Authoring system and authoring method, and storage medium

ABSTRACT

An action editing window (200) is formed as a time table of a two-dimensional time line style, made up by a horizontal time axis and a vertical channel. Within the time line table, respective constituent elements of an action of a robot, such as a time ruler (201), a keyframe channel (202), a motion channel (203), a sound channel (204) or an LED operation channel (205), are chronologically displayed. A user is able to edit as synchronization between the respective components of the action is checked. This supports the creation and the editing of a series of commands and data stating a pattern of robot movements.

TECHNICAL FIELD

This invention relates to an authoring system and an authoring methodfor supporting creation and editing of data in accordance with a presetscenario and, more particularly, to an authoring system and an authoringmethod for supporting creation and editing of a sequence ofcommands/data stating a preset operating pattern of a robot.

More particularly, it relates to an authoring system and an authoringmethod for supporting creation and editing of an operating pattern usinga set of components prescribing the operating states of a robot, and toan authoring system and an authoring method for arraying the respectivecomponents on a computer display for supporting creation and editing ofthe operating pattern.

BACKGROUND ART

A mechanical apparatus for performing movements simulating the movementof the human being, using electrical or magnetic operation, is termed a“robot”. The etymology of the term robot is said to be “ROBOTA” (slavemachine) of the Slavic language. The robots started to be used widely inthis country towards the end of the sixtieth. Most of the robots usedwere industrial robots, such as manipulators or transporting robots,aimed at automation or unmanned operations in plants.

In recent years, researches and development in legged mobile robots,including pet type robots, simulating the bodily mechanism or movementsof animals, such as quadruples, e.g., dogs or cats, or so-calledhumanoid robots, simulating the bodily mechanism or movements of animalserected and walking on feet, such as human being, are progressing, andexpectations are made of practical utilization of these types of robots.The legged mobile robots, while being unstable and difficult to controlas to their orientation or walking, as compared to crawler or tire typerobots, are superior in their performance in climbing up and down aladder or a staircase, in riding over obstacles or walking or in runningflexibly on a leveled or non-leveled terrain.

The standstill type robots, installed and used at a fixed place, such asarmed robots, are in operation only in a stationary or local workingspace, such as for assembling or sorting of component parts. On theother hand, the mobile robots are not limited as to working space andare movable on a preset or undefined path in an unrestricted fashion toperform operations to take the place of human operators or to offervariegated services to take the place of the human being, dogs or otherliving organisms.

One of the usages of the legged mobile robot is substitution of avariety of operations dangerous or difficult to perform in industrial orproductive activities. Examples of these usages include substitution ofa variety of operations dangerous or difficult to perform, such asmaintenance operations in nuclear power plants, thermal power plants orpetrochemical plants, transporting or assembling operations inmanufacturing plants, cleaning in high-rise buildings or rescuing e.g.,on the site of conflagrations.

Another usage of the legged mobile robot is life-related usage, such asco-living with or rendering entertainment for the human being, ratherthan acting as the operational support described above. This sort ofrobot emulates a rich feeling expression exploiting the four limbs or anoperation mechanism of the legged walking animal of high intellect, suchas human being or dog (pet). Moreover, this sort of the robot isrequested not only to execute the pre-set operating pattern measlyfaithfully, but also to realize vivid expressions dynamically respondingto the language or behavior of a counterpart operator, such as‘praising’, ‘scolding’ or ‘patting’.

With a conventional toy machine, the relationship between the useroperation and the responsive operation is fixed, such that the toy'smovements cannot be changed to suit to the user's liking. The result isthat the user gets tired of the toy, simply repeating only the same sortof the operations, sooner or later.

Conversely, an intellectual robot owns a behavioral or learning model,emanating from movements, and determines its movements as it varies themodel based on the input information from outside, such as speech, imageor tactile feeling, to realize autonomous thinking or operation control.The feeling or the autonomous behavior of the robot itself can berepresented by providing the robot with the feeling or instinct model.By the robot owning a picture inputting device or with a speechinput/output device and executing the processing of picture or speechrecognition, it is possible to realize realistic communication betweenthe robot and the human being on a higher intellectual level.

In addition, by affording the possibility of changing the modelresponsive to the detection of a stimulus from outside, such as user'sactuation, that is the ‘learning effect’, it is possible to present tothe user a movement pattern which is not tiresome to the user or whichadapts itself more satisfactorily to the user's liking.

Nowadays, the legged mobile robot owns a high information processingcapability, such that the robot itself may be thought of as a sort of acomputing system. Consequently, the sequence of the highly advancedsophisticated operations, constructed by the operating pattern, realizedon the robot, or by the combination of plural basic operating patterns,may be constructed by an operation similar to that performed in thecomputer programming.

In near future, it may be anticipated that the robot becomes morepopular to become more diffused not only in industrial circles but alsoin households and in our everyday life. In particular, as concernsproducts which pursue entertainment aspects, it may be anticipated thatconsumers at large, not having profound knowledge in computer orcomputer programming, purchase and use the robot. It may be thought tobe desirable to provide the users at large with a tool which helpscreate and edit the operating sequence of the robot relatively readilyand efficiently by interactive processing, that is with a so-calledauthoring system.

DISCLOSURE OF THE INVENTION

It is therefore an object of the present invention to provide anexcellent authoring system and method which are able to help create andedit a sequence of command/data stating a preset operating pattern ofthe robot.

It is another object of the present invention to provide an excellentauthoring system and method which are able to help create and edit anoperating pattern using a set of components prescribing the operatingstates of a robot.

It is a further object of the present invention to provide an excellentauthoring system and method which allow to array various components on acomputer display to help create and edit an operating pattern for therobot.

An authoring system according to the present invention is such a systemsupporting the creation and editing of an action of a multi-jointstructure comprised of a combination of a plurality of chronologicaldata, including a user inputting unit for inputting commands or datafrom a user, a user presenting unit for presenting an editing area inwhich chronological data making up the action are arrayedchronologically along the time axis, and a chronological data editingunit provided for each chronological data making up the action. Thechronological data editing unit creates or edits relevant chronologicaldata based on a user input through the user presenting unit.

The ‘system’ herein means a logical assembly of plural devices orfunctional modules realizing specified functions, without regard towhether or not the individual devices or functional modules are enclosedin one casing.

The multi-joint structure is a legged robots having two legs, four legsand so forth and which are constructed from plural joint actuators.Alternatively, the multi-joint structure may be other types ofmulti-joint robots, or a character for producing an animation, based onjoint movements, as a result of computer graphics.

The chronological data making up the action may be motion data statingthe chronological movements of respective joints of the multi-jointstructure. The motion data may prescribe chronological movements ofrespective joints of the multi-joint structure and, by arraying two ormore keyframes, each representing the multi-joint structure striking apreset pose on the time axis, may smoothly join the respectivekeyframes.

Another chronological data making up the action is sound data output assound in timed relation to reproduction of the action. The sound datamay be stated in the MIDI (Musical Instrumental Digital Interface) formor WAVE form.

Still another example of the chronological data making up the action isindicator display data stating the turning on/off of display indicatorsdisplayed in timed relation to action reproduction. The indicatordisplay data may be stated in the MIDI (Musical Instrumental DigitalInterface) form.

The editing area presented by the user presenting unit may be comprisedof chronological-data-based chronological data display channels. Thesedata extend along the horizontally arrayed time axis, with the displaychannels being arrayed in the vertical direction.

That is, with the authoring system according to the present invention,the chronological data making up an action of the mobile robot may bedisplayed as they are arrayed along the time axis on the time table ofthe two-dimensional time line style. Consequently, the creation andediting may be prosecuted as synchronization between the respectivechronological data is visually checked so that a working environmentefficient and intuitively comprehensible may be provided for actionediting.

The editing area presented by the user presenting unit may include oneor more time display lines extending in the vertical direction forspecifying the relevant time as prescribed by the time ruler. In suchcase, the state of progress between the respective time indicating linesor the state of synchronization between the respective chronologicaldata channels may be visually checked with the time indicating lines asa reference.

The editing area presented by the user presenting unit may include avertically extending current time display line for indicating thecurrent time on the time axis prescribed by the time ruler. The currenttime display line may be configured for being shifted on the time rulerto a position corresponding to user actuation.

The editing area presented by the user presenting unit may include adisplay window for previewing movements of the multi-joint structure atthe current time.

The editing area presented by the user presenting unit may include akeyframe channel for indicating the respective keyframes or thumbnailsthereof along the time axis as prescribed by the time ruler. In thekeyframe channel, the time changes of the keyframe may be accommodatedso as to follow up with keyframe or thumbnail dragging. A pose editingpicture for editing a relevant pose may be started responsive to theoperation of selection by the user of the keyframe or thumbnail withinthe keyframe channel.

The editing area presented by the user presenting unit may also includea motion channel for editing and displaying the contents of a motionalong the time axis prescribed by the time ruler. This motion channel isconstructed by arraying respective timing charts, representing thechronological movements of respective joints of the multi-jointstructure in the vertical direction. It is also possible to accommodatechanges in the joint movements at a relevant time point so as to followup with dragging on the timing chart in the motion channel.

The editing area presented by the user presenting unit may also beprovided with a sound channel for indicating the contents of the soundalong the time axis as prescribed by the time ruler, or with a displayindicator channel for displaying the contents of the indicator displaydata along the time axis prescribed by the time ruler.

The user presenting unit may also be provided with a sound editing areafor displaying and editing the sound contents along the time axisprescribed by the time ruler.

The sound editing area may include a score channel constituted by abasic grid along the time axis direction and by a piano keyboard. Inthis case, a score is formed by the sound duration as the reference ofthe time axis and the pitch of the piano keys. On the score channel, thesound may be edited by arraying the color corresponding to sound notesin a cell corresponding to the desired time point and the sound scale.The velocity channel may also be demonstrated for representing theintensity of each sound along the time axis.

The user presenting unit may further include an indicator editing areafor displaying and editing the contents of indicator data along the timeaxis prescribed by the time ruler.

The indicator editing area includes a score channel constituted by alist of sites of arraying of display indicators and by the basic gridalong the time axis direction. In such case, a score may be edited fromone site list to another by indicating the turned-on state of theindicator in each site on the time axis on a score channel.

The user presenting unit may further display a preview window forvisually checking an action of the multi-joint structure generated basedon each chronological data as edited by the chronological data editingunit.

The preview window may include a 3D view area for three-dimensionaldisplay of movements of the multi-joint structure generated based onmotion data. The preview window may include a display indicatoroperation preview area for displaying the operation of the indicatorscorresponding to the indicator display data in synchronism with thepreview of other chronological data.

The user presenting unit may further display a pose window for editingthe pose of the multi-joint structure by the GUI operation.

The pose window may include an entity specifying area for displaying themulti-joint structure in a developed plan view for accepting userselection of editable sites. The authoring pose window may include alist specifying area for displaying a list of editable sites of themulti-joint structure and setting values thereof. The pose window mayalso include a setting value area for displaying a list of the names ofsetting sites, setting values, settable maximum values and settableminimum values of editable sites of the multi-joint structure. The posewindow may also include a 3D display area for 3D displaying a full imageof the multi-joint structure generated by 3D graphics and for acceptinguser selection on the 3D display.

The authoring system may also include data inputting means for inputtingchronological data making up an action of the multi-joint structure fromoutside. The pose window may also display the pose generated based ondata input from the data inputting means.

The user presenting unit may further display a motion preview windowarraying one or more key frames making up the motion or thumbnailsthereof in accordance with the chronological sequence used in motionreproduction.

An authoring method according to the present invention is such a methodfor supporting the creation and editing of an action of a multi-jointstructure comprised of a combination of a plurality of chronologicaldata, and includes a user presenting step of presenting an editing areain which the chronological data making up the action are arrayedchronologically along the time axis and a chronological data editingstep for creating or editing relevant chronological data based on a userinput through the editing area, provided for each chronological datamaking up the action, via the user presenting step.

One of the chronological data making up the action is motion datastating the chronological movements of respective joints of the multijoint structure. This motion data may prescribe chronological movementsof respective joints of the multi-joint structure. The motion datasmoothly joins two or more keyframes by arraying these keyframes eachrepresenting the multi-joint structure striking a preset pose on thetime axis.

Another example of the chronological data making up the action is sounddata output as sound in timed relation to reproduction of the action.The sound data may be stated in the MIDI (Musical Instrumental DigitalInterface) form or WAVE form. Still another example of chronologicaldata making up the action is display indicator display data stating theturning on/off of display indicators, with the display data beingdisplayed in timed relation to reproduction of the action. The indicatordisplay data may be stated in the MIDI (Musical Instrumental DigitalInterface) form.

The editing area presented in the user presenting step may be comprisedof chronological-data-based chronological data display channels, withthe data extending along the horizontally arrayed time axis, thechannels being arrayed in the vertical direction.

That is, with the authoring method according to the present invention,the chronological data forming the action of the mobile robot, such asmotion data, sound data or LED operating data, may be arrayed anddisplayed along the time axis on the timetable of the two-dimensionaltime line style to render it possible to visually check thesynchronization between respective chronological data in prosecuting thecreation or editing. The result is provision of a working environmentfor action edition which is more efficient and comprehensibleintuitively.

The editing area presented in the user presenting step may include atime ruler comprised of graduations used to display the time axis inreal-time. In such case, it is possible to readily visually recognizethe synchronization between the respective chronological data channelsand the time axis.

The editing area presented by the user presenting step may include oneor more time display lines extending in the vertical direction forindicating the relevant time prescribed by a time ruler. In such case,the state of progress between the respective time indicating lines orthe state of synchronization between the respective chronological datachannels may be visually checked with the time indicating lines as areference.

The user presenting step may present an editing area having a verticallyextending current time display line for indicating the current time onthe time axis prescribed by the time ruler. There may further beincluded a further step of shifting the current time display line on thetime ruler to a position corresponding to user actuation.

There may further be provided a step of presenting a display window forpreviewing movements of the multi-joint structure at the current time.

The user presenting step may further present an editing area having akeyframe channel for demonstrating each keyframe or its thumbnail inaccordance with the time axis prescribed by the time ruler. In suchcase, there may further be provided a step of changing the keyframe timeso as to follow up with dragging of the keyframe or its thumbnail in thekeyframe channel. There may also be provided a step of starting a poseediting picture for editing the relevant pose responsive to the user'soperation for selecting the keyframe or its thumbnail in the keyframechannel.

The user presenting step may also present an editing area provided witha motion channel for editing and displaying the motion contents alongthe time axis prescribed by the time ruler. In such case, the respectivetiming charts representing the chronological movements of the respectivejoints of the multi-joint structure may be arrayed vertically torepresent the motion channel. There may further be provided a step ofchanging the joint movements at the relevant time points such as tofollow up with dragging on the timing charts in the motion channel.

In the user presenting step, there may be presented an editing areahaving a sound channel for demonstrating the sound contents along thetime axis prescribed by the time ruler. Alternatively, the userpresenting step may present an editing area having a display indicatorchannel for displaying the contents of the indicator display data alongthe time axis prescribed by the time ruler.

The authoring method may further include a step of displaying the soundediting area for displaying and editing the sound contents along thetime axis prescribed by the time ruler.

The sound editing area may include a score channel constituted by abasic grid along the time axis direction and a piano keyboard. In suchcase, a score is formed by the sound duration as the reference of thetime axis and by the pitch of the piano keys. On the score channel, thesound may be edited by arraying the color corresponding to sound notesin a cell corresponding to the desired time point and the sound scale onthe score channel. The sound editing area may also include a velocitychannel for representing the intensity of each sound along the timeaxis.

The authoring method may further include a step of demonstrating adisplay indicator editing area for displaying and editing the contentsof the indicator display area along the time axis prescribed by the tieruler.

The indicator editing area may include a score channel constituted by alist of arraying sites of the display indicators and by the basic gridalong the time axis direction. In such case, the score may be editedfrom one site list to another by demonstrating the turned-on state ofthe display indicators in respective sites on the time axis on a scorechannel.

The authoring method may further include a step of displaying a previewwindow for visually checking an action of the multi-joint structuregenerated based on each chronological data as edited in thechronological data editing step.

The preview window indicating step may three-dimensionally displaymovements of the multi-joint structure, generated based on motion data,in a 3D view area. Alternatively, the preview window indicating step maydisplay the operation of the display indicators corresponding to theindicator display data in synchronism with the preview of otherchronological data.

The authoring method may further include a step of displaying a posewindow for editing the pose of the multi-joint structure by the GUIoperation.

The pose window may include an entity specifying area for displaying themulti-joint structure in a developed plan view for accepting userselection of editable sites, a list specifying area for displaying alist of editable sites of the multi-joint structure and setting valuesthereof, a setting value area for displaying a list of the names ofsetting sites, setting values, settable maximum values and settableminimum values of editable sites of the multi-joint structure, or a 3Ddisplay area for 3D demonstrating a full image of the multi-jointstructure generated by 3D graphics and for accepting user selection ofthe editable sites on the 3D display.

The authoring method may further include a data inputting step ofinputting chronological data making up an action of the multi-jointstructure from outside. The pose window displays the pose generatedbased on data input from the data inputting step.

The authoring method may also include a step of displaying a motionpreview window arraying one or more key frames making up the motion orthumbnails thereof in accordance with the chronological sequence used inmotion reproduction.

A recording medium according to the present invention has physicallystored thereon, in a computer-readable form, a computer software statingthe processing for supporting the creation and editing of an action of amulti-joint structure, comprised of the combination of pluralchronological data, on a computer system. The computer software includesa user presenting step of presenting an editing area in whichchronological data making up the action are arrayed chronologicallyalong the time axis, and a chronological data editing step of creatingor editing relevant chronological data based on a user input through anediting area by the user presenting step. The editing area is providedfor each chronological data making up the action.

The recording medium according to the present invention is a medium forphysically furnishing a computer software in a computer readable form tothe general-purpose computer system capable of executing a variety ofprogram codes. Such medium is a removable portable recording medium,exemplified by a CD (Compact Disc), an FD (Floppy Disc), a MD(Mini-Disc) or a MO (Magneto-Optical Disc). It is also possible tofurnish the computer software to a specified computer system in acomputer readable form through a transmission medium, such as a network,which may be a wireless or cable network.

This recording medium represents a definition of the cooperativerelationship between the computer software an the recording medium instructure or function in order to achieve the functions of the presetcomputer software on the computer system. Stated differently, byinstalling a preset compute software on a computer system through arecording medium according to the third aspect of the present invention,the cooperative action may be manifested on the computer system toachieve the operation and effect similar to those of the authoringsystem and method in the first and second aspects of the presentinvention.

Other objects, features and advantages of the present invention willbecome more apparent from reading the embodiments of the presentinvention as shown in the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a mobile robot 1 performing walking onfour legs, embodying the present invention.

FIG. 2 schematically shows the structure of an electrical andcontrolling system of the mobile robot 1.

FIG. 3 is a detailed view of a controller 20.

FIG. 4 schematically shows a hardware structure of a host computer 100.

FIG. 5 schematically shows the hardware structure of the host computer100.

FIG. 6 shows a project window.

FIG. 7 indicates a submenu item of a menu ‘file’ in the project window.

FIG. 8 indicates a submenu item of a menu ‘material’ in the projectwindow.

FIG. 9 shows an action editing window.

FIG. 10 shows a submenu ‘file’ in an action editing window.

FIG. 11 shows a submenu item of a menu ‘editing’ in the action editingwindow.

FIG. 12 shows a submenu item of a menu ‘material’ in the action editingwindow.

FIG. 13 shows the action editing window with a key frame channel open(key frame detail channel).

FIG. 14 shows the action editing window with a motion channel open(motion detail channel).

FIG. 15 shows a sound detail window for editing the sound file of theMIDI form.

FIG. 16 shows a sum-menu item of the menu ‘file’ in the sound detailwindow for MIDI form.

FIG. 17 shows a sum-menu item of the menu ‘edit’ in the sound detailwindow for MIDI form.

FIG. 18 shows a sum-menu item of the menu ‘set’ in the sound detailwindow for MIDI form.

FIG. 19 schematically shows the structure of the sound detail window fordemonstrating a sound file of the WAVE form.

FIG. 20 shows a submenu item of the menu ‘file’ in the sound detailwindow for WAVE form.

FIG. 21 shows a submenu item of the menu ‘edit’ in the sound detailwindow for WAVE form.

FIG. 22 schematically shows the structure of an LED detail window fordemonstrating an LED operation file.

FIG. 23 shows a submenu item of the menu ‘file’ in the LED operationfile.

FIG. 24 shows a submenu item of menu ‘file’ in the LED operation file.

FIG. 25 schematically shows the structure of a preview window formonitoring an action edited in the action editing window.

FIG. 26 schematically shows the structure of a pose window for editing a3D pose of a mobile robot by a GUI operation.

FIG. 27 is a flowchart for pre-view on the pose window of the contentsdirectly taught on an actual machine.

FIG. 28 schematically shows the structure of motion previewer forpreviewing the motion.

FIG. 29 is a block diagram of the authoring system.

BEST MODE FOR CARRYING OUT THE INVENTION

Referring to the drawings, certain preferred embodiments of the presentinvention will be explained in detail.

A. Robot Structure

FIG. 1 shows the appearance and the structure of the mobile robot 1performing legged movements on four legs, embodying the presentinvention. As shown, the robot 1 is a multi-articulated mobile robot,constructed after the shape and the structure of a four-legged animal asa model. In particular, the mobile robot 1 of the present embodiment hasthe aspect of a pet type robot, designed after the shape and thestructure of a dog, as representative of a pet animal, and is able toco-exist with the human being in the human living environment and toexpress the operations responsive to the user's operations.

The mobile robot 1 has a trunk unit 2, a head unit 3, a tail 4 and fourlimbs, that is leg units 6A to 6D.

The head unit 3 is arranged at approximately the fore upper end of thetrunk unit 2 through a neck joint 7 having the degrees of freedom in theroll, pitch and yaw directions, as shown. On the head unit 3, there areloaded a CCD (charge coupled device) camera 15, equivalent to the ‘eye’of the dog, a microphone 16, equivalent to its ‘ear’, a loudspeaker 17,equivalent to its ‘mouth’, a touch sensor 18, equivalent to its tactilesense, and a plural number of LED indicators 19. There may also beloaded other sensors making up the five senses of the living being.

The tail 4 is mounted for bending or pivoting movements on theapproximately rear upper end of the trunk unit 2 through a tail joint 8having the degrees of freedom of roll and pitch axes.

A pair of leg units 6A, 6B make up fore legs, whilst leg units 6C, 6Dmake up hind legs. The leg units 6A to 6D are each comprised ofcombination of thigh units 9A to 9D and shank units 10A to 10D, and aremounted at fore and aft and left and right corners of the bottom surfaceof the trunk unit 2. The thigh units 9A to 9D are connected to presetsites of the trunk unit 2 by hip joints 11A to 11D having the degrees offreedom about roll, pitch and yaw axes. The thigh units 9A to 9D and theshank units 10A to 10D are interconnected by knee joints 12A to 12Dhaving the degrees of freedom about the roll and pitch axes.

With the above-described legged mobile robot 1, constructed as describedabove, the respective joint actuators may be driven under the commandsfrom a controller, as later explained, for swinging the head unit 3 inthe up-and-down or in the left-and-right directions, swinging the tail 4or driving the leg units 6A to 6D in concert synchronously for realizingsuch movements as running or walking.

Meanwhile, the degree of freedom of the joints of the mobile robot 1 isfurnished by rotational driving of joint actuators, not shown, arrangedon the respective axes. It should be noted that the number of the degreeof freedom of the joints of the mobile robot 1 is optional and may befreely determined without departing from the scope of the presentinvention.

FIG. 2 schematically shows the structure of the electrical andcontrolling system of the mobile robot 1. As shown, the mobile robot 1is made up of a controller 20, an input/output unit 40, a driving unit50 and a power source unit 60, performing the comprehensive control ofthe overall operations and the processing of other data. Theserespective components are hereinafter explained.

The input/output unit 40 includes a CCD camera 15, equivalent to the‘eye’ of the mobile robot 1, a microphone 16, equivalent to its ‘ear’, atouch sensor 18, equivalent to its tactile sense, and a plural number ofsensors equivalent to the five senses. As the output unit, there arealso provided a loudspeaker 17 equivalent to the mouth, and a number ofLED indicators 19 forming facial expressions based on the combinationsof lighting/extinguishment or the lighting timing. These output unitsare able to express the feedback to a user from the mobile robot 1 in aform other than mechanical movement patterns employing e.g., the legs.

The mobile robot 1, provided with the camera 15, is able to recognizethe shape or the color of an optional object present in a workspace. Themobile robot 1 may also be provided with a receipt device for receivingtransmitted waves, such a IR rays, sound waves, ultrasonic waves orelectrical waves, in addition to visual means, such as cameras. In thiscase, the positions or orientation from the transmitting source may bemeasured based on an output of a sensor detecting the transmitted waves.

The driving unit 50 is a functional block for realizing mechanicalmovements of the mobile robot 1 in accordance with a preset movementpattern as commanded by the controller 20. The driving unit is comprisedof driving units provided on each of the roll, pitch and yaw axes of theneck joint 7, tail joint 8, hip joints 11A to 11D and the knee joints12A to 12D. In the illustrated instance, the mobile robot 1 has ndegrees of freedom, at the respective joints, so that the driving unit50 is made up of n driving units. Each driving unit is comprised ofcombinations of a motor 51 for producing rotational movements aboutpreset axes, an encoder 52 for detecting rotational positions of themotor 51 and a driver 53 for adaptively controlling the rotationalpositions and rotational speeds of the motor 51 based on the outputs ofthe encoder 52.

The power source unit 60, as its name implies, is a functional moduleresponsible for current supply to respective electrical circuits withinthe mobile robot 1. The mobile robot 1 of the instant embodiment is ofan autonomous driving system, employing a battery. The power source unit60 includes a battery for charging 61 and a charging/dischargingcontroller 62 for supervising the charging/discharge state of thebattery for charging 61.

The battery for charging 61 is of a ‘battery pack’ configurationcomprised of plural nickel cadmium battery cells packed into acartridge.

The charging/discharging controller 62 measures the terminal voltage orthe charging/discharge current of the battery 61 and the temperaturearound the battery 61 to grasp its residual capacity to determine thestart and end time points of charging. The charging start and endtimings, as determined by the charging/discharging controller 62, arenotified to the controller 20 for use as a trigger for the mobile robot1 to start or terminate the charging operations.

The controller 20 is equivalent to a ‘brain’ and is loaded on, forexample, the head unit 3 or the trunk unit 2 of the mobile robot 1.

FIG. 3 shows a more detailed structure of the controller 20. As showntherein, the controller 20 is comprised of a CPU (central processingunit) 21, as a main controller, interconnected over a bus withrespective circuit components, such as memories, or peripheral circuits.The bus 27 is a common signal transmission path, inclusive of databuses, address buses and control buses. To each device on the bus, thereis assigned a unique address (memory address or I/O address), so that,subject to addressing, the CPU 21 is able to communicate with aspecified device on the bus 28.

A RAM (random access memory) 22 is a write memory, comprised of avolatile memory, such as DRAM (dynamic RAM), and is used for loadingprogram codes, executed by the CPU 21, and for transient storage of workdata by a program then running.

A ROM (read-only memory) 23 is a read-only memory for permanentlyrecording programs or data. Among the program codes, stored in the ROM23, there are, for example, a self-diagnosis test program, executed onpower up of the mobile robot 1, and an operation control program forregulating the movements of the mobile robot 1.

Among the control programs for the robot 1, there are a ‘sensor inputprocessing program’ for processing sensor inputs, such as inputs fromthe camera 15 or the microphone 16, a ‘behavior command program’ forgenerating the behavior, that is movement patterns, of the mobile robot1 based on the sensor inputs and a preset movement model, and a ‘drivingcontrol program’ for controlling the driving of respective motors orspeech outputs of the loudspeaker 17 in accordance with the so generatedmovement pattern. The generated movement pattern may include, inaddition to the routine walking and running movements, the speech ormovements rich in entertainment properties, such as [ote] (meaning‘raise hands’), [oazuke] (meaning ‘raise fore feet’, [osuwari] meaning‘sit down’, or whining such as [waw-waw].

Among the control programs for the robot 1, there are a variety ofprograms for operating sequences, created and edited using an authoringtool. The authoring tool is booted in an environment in which a presetprogram is run on a computer system installed outside the robot 1. Theauthoring tool and the programs created and edited on the tool will beexplained subsequently.

The non-volatile memory 24 is constructed by electrically erasable andoverwritable memory devices, such as EEPROM (electrically erasableprogrammable ROM), and is used for non-volatile storage of data whichshould be updated sequentially. Among the data to be updatedsequentially, there may, for example, be the security information, suchas production numbers or secret keys, and a variety of models regulatingthe behavioral pattern of the robot 1.

An interface 25 is a device for establishing interconnection withequipment other than the controller 20 to enable data exchange. Theinterface 25 effectuates input/output of data with e.g. the camera 15,microphone 16 or the loudspeaker 17. The interface 25 also effectuatesinput/output of data and commands with respective drivers 53-1 . . .within the driver 50.

The interface 25 may also be provided with serial interfaces, such as RS(Recommended Standard)—232C, parallel interfaces, such as IEEE(Institute of Electrical and Electronics Engineers) 1284, orgeneral-purpose interfaces for connection to computer peripherals, suchas USB (Universal Serial Bus) interface, i-Link (IEEE1394) interface,SCSI (small computer system interface) or memory card interface, to runthe programs or to effect data transfer with locally connected externalequipment.

By way of another instance of the interface 25, an interface for IRcommunication (IrDA) may be used to effectuate radio communication withexternal equipment.

The controller 20 may also be provided with a radio communicationinterface 26 and a network interface card (NIC) 27 to effectuateproximity radio communication, such as ‘Bluetooth’ or ‘11B’, or datacommunication with the external host computer 100 over LAN (Local Areanetwork, e.g., Ethernet) or Internet. The transmission/receipt unit forradio communication is preferably provided on distal ends of the mainbody unit of the mobile robot 1, such as head unit 2 or tail 3, in lightof reception sensitivity.

An objective of data communication between the mobile robot 1 and thehost computer 100 is to compute complex operational control of themobile robot 1, or to perform remote control, using computer resources,that is resources outside the robot 1, that is those on a remotecomputer.

Another objective of the data communication is to supply data orprograms, necessary for program codes, such as movement model, necessaryfor movement control of the robot 1, from a remote device to the mobilerobot 1 over the network.

Still another objective of the data communication is to effectuatedownloading of the robot movement controlling program, created andedited on the host computer 100 using an authoring tool, as laterexplained, and debugging in real-time of the operation controllingprogram by cooperative operation in concert between the host computer100 and the robot 1.

Yet another objective of the data communication is to transferoperational setting values, such as angular data, of respective jointactuators, prescribing the pose directly taught by the operator to themobile robot 1, to the host computer 100. On the host computer 100, the‘pose’ prescribed by the angular data of the respective joint actuatorsmay be edited on the pose window to produce a key frame for motion. Inshort, the pose provided from the mobile robot 1 may be used for e.g.,action editing.

The controller 20 may be provided with a keyboard 29, made up of tenkeys and/or an alphabetical keys. The keyboard 29 is directly used forinputting a command by the user on the operating site of the robot 1,while being used for inputting the owner authentication information,such as a password.

The mobile robot 1 of the instant embodiment is able to executeautonomous movements, that is movements devoid of human intervention, bythe controller 20 executing a preset movement controlling program.Moreover, the mobile robot 1 of the instant embodiment is provided witha picture inputting device, that is camera 15, a speech input device,that is microphone 16, or an input device equivalent to the five sensesof the human being or animals, such as touch sensor 18, while beingendowed with intelligence sufficient to enable intellectual or emotionalmovements to be executed responsive to these external inputs.

The mobile robot 1, constructed as shown in FIGS. 1 to 3, has thefollowing characteristics:

(i) When commanded to transfer from a given orientation to anotherorientation, the mobile robot 1 is able to effectuate transition withouttransition directly through the respective orientations, but throughunforced intermediate orientations, as provided from the outset.

(ii) When an optional orientation is reached through transition throughpreset orientations, a notice to that effect may be received.

(iii) The orientation control may be managed as the orientation issupervised independently from one unit, such as head or leg or tailunit, to another. That is, unit-based orientation control may be managedfrom unit to unit, apart from the orientation control of the robot 1 inits entirety.

(iv) It is possible to deliver parameters for specifying detailedoperations of the movement commands.

Referring to FIG. 3, the mobile robot 1 of the instant embodiment isconnected over a network to the external host computer 100.Alternatively, the mobile robot 1 may be connected to the host computer100 by radio communication, such as Bluetooth or 11B proximity radiocommunication, or the like communication means.

On the host computer 100, a preset software execution environment isconstructed, so that, under this environment, the authoring tool can bebooted to create and edit the operating sequence of the robot 1 byinteractive processing relatively easily and efficiently. The authoringtool will be discussed in detail subsequently.

FIG. 4 schematically illustrates an exemplary structure of the hardwareof the host computer 100. The respective components of the computer 100will be hereinafter explained in detail.

A CPU (central processing unit) 101, as a main controller of the system100, is configured for executing various applications under control byan operating system (OS). Preferably, the OS furnishes a GUI (graphicaluser interface) environment. For example, the OS may be Windows98/NT ofMicrosoft Inc., USA.

As shown, the CPU 101 is connected over bus 107 to other equipment, notshown. The respective equipment on the bus 107 are afforded with uniquememory addresses or I/O addresses, so that the CPU 101 is able to accessthe equipment based on these addresses. The bus 107 is a common signaltransmission path, including data, address and control buses, and may betypified by a PCI (Peripheral Component Interconnect) bus.

A memory 102 is used for storage of program codes executed on the CPU101 or transient storage of current operating data. It should be notedthat the memory 102 shown may be a non-volatile memory or a volatilememory, as desired.

A display controller 103 is a dedicated controller for actuallyprocessing drawing commands issued by the CPU 101, and supports thebitmap drawing function equivalent to, for example, SVGA (Super VideoGraphic Arrays) or XGA (eXtended Graphic Array). The drawing data,processed by the display controller 103, is transiently written in aframe buffer, not shown, and subsequently output to a display device111, which display device 111 may, for example, be a CRT (Cathode RayTube) display or a liquid crystal display.

An input equipment interface 104 is a device for connecting user inputequipment, such as keyboard 112 or mouse 113, to the system 100. Theinput equipment interface 104 is responsive to a coordinate commandinput through key input from a keyboard 112 or a mouse 113 to produceinterrupt in the CPU 101.

A network interface 10S is able to connect the system 100 to a network,such as LAN (Local Area network), or to a proximity radio datacommunication, such as Bluetooth or 11B, in accordance with a presetcommunication protocol, such as Ethernet. The network interface 10S isfurnished in general in a form of a LAN adapter card, and is used as itis loaded in a PCI bus slot on a motherboard, not shown.

In the embodiment shown in FIG. 3, the host computer 100 isinterconnected to the robot 1 via radio data communication or a network.Of course, the computer 100 may also be connected to the robot 1 byother suitable communication means or data movement means. For example,data exchange or movement may also be performed using a recordingmedium, such as memory cards (memory stick).

On the network, plural host computers, not shown, are interconnected ina transparent state to form a distributed computer environment. On thenetwork, software programs or data are distributed. For example, theauthoring tool of the instant embodiment and the movement sequenceprogram for robots, prepared and edited by the present authoring tool,or even the action files, motion files, sound files or LED operationfiles, as the movement files, may be distributed over the network. Thenetwork distribution service of these programs/data may be renderedeither for pay or free of charge.

An external equipment interface 106 is a device for connecting anexternal device, such as a hard disc drive (HDD) 114 or a media drive115, to the system 100. The external equipment interface 106 is designedso as to comply with interface standards, such as IDE (Integrated DriveElectronics) or SCSI (Small Computer System Interface).

The HDD114 is an external storage device, well-known per se, having amagnetic disc as a storage medium loaded thereon permanently, and issuperior to other external storage devices as to storage capacity anddata transfer rate. The mounting of a software program on the HDD 116 inan executable state is termed installation of the program on a system.In the HDD 114, program codes of the operating system to be executed bythe CPU 101, application programs or device drivers are stored in anon-volatile fashion. For example, the authoring tool of the instantembodiment, or the movement sequence program, prepared and edited usingthe authoring tool, may be installed on the HDD 114.

On the other hand, a media drive 115 is a device in which a CD (CompactDisc), MO (magneto-optical disc) or a DVD (Digital Versatile Disc) isloaded for accessing the data recording surface. A portable medium 115 ais used for backup mainly of software programs or data files in acomputer readable data form or for moving the data between differentsystems, such as selling, circulating or distributing the data. Forexample, the authoring tool of the instant embodiment and the movementsequence program for robots, prepared and edited by the presentauthoring tool, or even the action files, motion files, sound files orLED operation files, may be physically circulated or distributed betweendifferent equipment, using the portable medium 115 a.

Meanwhile, an example of the host computer 100, shown in FIG. 4, is acomputer compatible with or inheriting a personal computer “PC/AT(Personal Computer/Advanced Technology)” manufactured by IBM of USA. Ofcourse, computer systems equipped with other architectures may be usedas the host computer 100 of the instant embodiment.

B. Structure of Authoring System

With the instant embodiment, the movement control program, comprised ofa series of command/data, stating a preset movement pattern of the robot1, may be created and edited, using an authoring tool booted on thecomputer 100. The movement control program, prepared and edited usingthis authoring tool, may be transferred to the robot 1, using radiocommunication means, such as Bluetooth or 11B, to execute debugging byconcerted operation between the host computer 100 and the robot 1. Thatis, the authoring system for supporting the creation and editing of themovement control program is constructed by organic linkage between thehost computer 100 and the robot 1.

FIG. 5 schematically shows the overall structure of the authoringsystem.

On the host computer 100, the user is able to prepare and edit aprescribed scenario for the mobile robot 1, by a mouse operation, usingthe GUI picture presented by the authoring tool. The GUI picture forpreparing the scenario and the editing operation on the GUI picture willbe explained in detail subsequently. Alternatively, the user is able tocreate and edit the movement control program for the robot 1, in ascript form, such as a high grade language system, e.g., C-language,using a routine text editor etc.

The authoring tool converts the scenario, prepared and edited by theuser on the GUI picture, or the movement control program of the scriptstyle, prepared and edited on the text editor, into an assembler-likepneumonic code, termed “RCODE”.

The RCODE means a program language, formulated to control the robot 1 bysimple commands. Since the RCODE also has a basic control structure,such as “IF” or “GO”, it may also be used as a the lowest level scriptlanguage for robot control.

The RCODE movement control program, created and edited on the side hostcomputer 100, may be moved to the robot 1 using e.g., a storage medium,such as memory stick. In debugging the RCODE movement control program,the RCODE program is taken out row by row and encrypted so as to besequentially transferred to the robot 1, using radio communicationmeans, such as Bluetooth or 11B.

The robot 1, on the other hand, is provided with aninterpreter/debugger, middleware, driver and an operating system (OS),as an environment for execution and debugging of the movement controlprogram, stated in the RCODE etc.

The interpreter is a high level language program for reading-in,row-by-row, the program stated in the RCODE form, for executing the soread-in program. It should be noted that, when the RCODE program in theencrypted form is transmitted from the side host computer 100, as indebugging, it is necessary for an interpreter to decode it transientlybefore proceeding to interpretation and execution.

The debugger is a program for finding and correcting errors (bugs) inthe RCODE program. That is, a debugger is able to halt the programrunning at a specified row or to refer to the contents of the memory orthe variable at such time.

The middleware is a set of software modules furnishing basic functionsof the robot 1. The structure of each module is affected by mechanicaland electrical properties of the robot 1, or hardware attributes, suchas specifications or shape. Functionally, the middleware is classifiedinto the middleware of the recognition system and that of the outputsystem.

The middleware of the recognition system is an engine for receiving andprocessing crude data from the hardware, such as picture or speech dataor detection data obtained from other types of the sensor, through avirtual robot. That is, the middleware of the recognition systemperforms speech or color recognition or detection of distance,orientation, contact, motion or color to acquire the results ofrecognition, which are notified to an upper application layer, that is amovement control program.

On the other hand, the middleware of the output system furnishes thefunctions, such as reproduction of the walking and movements, synthesisof output sound or control of the turning on/off of LED indicators. Thatis, the middleware of the output system receives behavioral schedules,mapped out on the application layer, to generate the servo controlvalues of the robot, output sound, output light (LED) or output speech,on the joint basis, from one function of the robot 1 to the next, torealize the various actual performances on the robot 1.

The driver is a program code for performing operations of the respectivejoint actuators and other hardware operations.

In the present embodiment, the middleware and the driver are implementedby the object oriented programs. The object orientation based softwareis handled in terms of a module termed an ‘object’ which basically isdata and a processing sequence for the data, unified together. Onesoftware is completed by preparing or combining plural objects asnecessary. By and large, the object oriented programming is felt to helpimprove software development and maintenance.

An operating system (OS) exercises control of data communication betweenthese objects and of execution of other programs. The OS is alsoimplemented by an objet oriented program.

C. Creation and Editing of Operating Program for Robots EmployingAuthoring Tool

The movement scenario, created using the authoring tool of the instantembodiment, is made up of creation and editing of the ‘behavior’ andcreation and editing of the ‘action’, with the resultant product beingtermed a ‘project’. In this project is set the configuration or CPC(configured peripheral component) of the mobile robot 1, that is thehardware constituent information, comprised of the combination of thetrunk, head and legs of the mobile robot 1.

The project is made up of the behavior file, action file, motion file,sound file and LED operation file. The behavior is composed ofcombination of actions. Each action is made up of respective contents,such as motion, sound and the LED operations.

The motion file is a file which prescribes the movements of therespective joint actuators of the mobile robot 1. In the instantembodiment, the motion is prescribed by chronologically arranging two ormore key frames delineating the mobile robot 1 striking a pose on a GUIediting picture. The motion editing operation on the GUI editing picturewill be explained later in detail.

The sound file is acoustic data for speech outputting via loudspeaker17, and is constructed e.g., as MIDI (Musical Instrumental DigitalInterface) or WAVEform file. For example, the acoustic file, stated inthe MIDI form, is designed to represent music not as the information ofthe sound itself, but on converting the performance information, such asloudness, length, timbre or effect into numerical data. In the instantembodiment, the numerical data of the MIDI form, constituting the sound,are acted on through the GUI editing picture for editing the performanceinformation, as will be explained subsequently in detail.

The LED movement file is data for prescribing the combination of theturning on/off of the plural LED indicators 19, and is used for formingfacial expressions. In the instant embodiment, the LED operation file isstated in the MIDI form, and is designed to be edited in desired mannerthrough the GUI editing picture. The editing operation of the GUIediting picture will be explained in detail subsequently.

The motion, sound and the LED operations represent constituent elementsof an action, and are chronological data changing with lapse of time.For accurate reproduction of an action, these constituent elements mustbe temporally synchronized with one another. In the present embodiment,each file can be edited so that the motion and the sound as well as theturning on/off of the plural LEDs will be synchronized with one anotheron the time axis, as will be explained in detail subsequently.

An action is constructed by unifying the respective contents, that isthe motion file, sound file and the turning on/off of the plural LEDs.One action file is a command reproduced in approximately ten seconds,and is also termed ‘semantics’. In the present embodiment, there isprovided a working environment for action edition in which time linesare utilized on the GUI editing picture to achieve the synchronizationbetween the respective contents with much ease, as will be explainedsubsequently. The respective contents can not only be processed asindividual data, but may be handled as an action, that is in a formunified with other contents.

The behavior is a file prescribing the behavior of the mobile robot 1and which is constituted by arraying two or more commands, that isactions. An action is reproduced in one direction from the beginninguntil the end. Conversely, with the behavior, the action reproducingsequence can be prescribed. In addition, subroutines may also be definedby branching based on conditions or probability or by forming pluralcommands or actions into a box. Thus, with the behavior, it is possibleto state a higher and more complex movement sequence of the mobile robot1 than with the action.

FIG. 29 schematically shows a functional structure of the authoringsystem. The authoring system of the present embodiment, shown therein,is particularly designed for editing an action, and is made up by anaction editor, a keyframe editor, a motion editor, a sound editor, anLED movement editor and a user interface controller for achieving theediting operation by the user with these functional modules by dialog onthe GUI picture.

The action editor is a functional module for editing the motion file,the sound file and the LED movement file with synchronization on thetime axis. The action editor presents, through the user interfacecontroller, the joint movement (motion) along the time axis of themobile robot 1, and an action editing window, for setting the timing ofthe sound and the LED operations, to the user. The action editingwindow, including an editing area, made up by a time-line style tablefor setting the various files on the time axis, will be explained indetail subsequently.

The keyframe editor is a functional module for editing a keyframe, thatis a picture frame delineating a pose of the mobile robot performing amotion at a relevant time point. The key frame editor is invokedresponsive to the user's actuation on the action editor and accepts theediting operation by the user through a keyframe channel opened on theaction editing window. The keyframe channel, in which thumbnailsrepresenting the keyframe are placed at relevant positions on the timeaxis, will be explained in detail subsequently.

The motion editor is a functional module for editing the motion, that ischronological movements of the respective joint actuators making up themobile robot. The motion editor is invoked responsive to the user'sactuation on the action editor and accepts the editing operation by theuser through a motion channel opened on the action editing window. Themotion channel, in which each timing chart stating the chronologicalmovements of the respective joint actuators is listed up (in atree-view) in a living body simulating model, will be explained indetail subsequently.

The motion editor presents, through the user interfacing unit, the posewindow for editing the pose of the mobile robot 1 on a 3D displayscreen, and a motion previewer, for pre-viewing the finished motion, tothe user. The pose window and the motion previewer will be explained indetail subsequently.

The sound editor is a functional module for setting details of the soundas one of the constituent elements of an action. In the presentembodiment, the sound is treated in the MIDI or WAVE form. The soundeditor presents to the user the sound detail window, usable for settingdetails of the sound along the time axis, through user interfacecontroller. The sound detail window includes an editing area, comprisedof a two-dimensional time-line style table, made up by a time axis inthe horizontal direction and by a channel in the vertical direction. Thesound detail window will be explained later in detail. The contents asset on the sound detail window are used for demonstration on a soundchannel, as later explained, within the action editing window.

The LED movement editor is a functional module for setting details ofthe LED operation as one of the constituent elements of the action. Inthe present embodiment, the LED movement is treated in the MIDI style.The LED movement editor presents, through the user interface controller,an LED detail window usable for setting details of the LED movementsalong the time axis, to the user. The LED detail window, including anediting area, comprised of a two-dimensional time-line style table, madeup by a time axis in the horizontal direction and by a channel in thevertical direction, will be explained subsequently. The contents as seton the LED detail window are used for demonstration on an LED movementchannel, as later explained, within the action editing window.

In editing the project, the user interface controller presents a projectwindow to the user.

The user interface controller is responsive to the user command, inputthrough each editing window, to access each file system or databasesupervising the behavior file, action file, motion file, sound file andthe LED movement file.

The sequence of processing operations for a user to create and edit themovement scenario of the mobile robot 1 on the authoring system of thepresent invention is now explained in detail.

In editing the project, a ‘project window’ shown in FIG. 6 isdemonstrated. The project window includes a title bar, a menu bar, atool bar and a list display area. The project window is formed e.g., byan SDI (Single Document Interface) main window. The SDI is a userinterface of the type operating for opening one document in one window.

As shown, a list of files, namely the behavior file, action file, motionfile, sound file and the LED movement file, used for editing thebehavior and the action, is displayed in a tree style in the projectwindow.

If a listed item of the behavior or the action is double-clicked, therelevant editing window, explained later with reference to FIG. 9, isopened. If the thumbnail of the lower left motion is double-clicked, themotion preview window, later explained with reference to FIG. 28, isopened.

The project window has the function of displaying the detailedinformation concerning the item as selected on the tree list.

The detailed information concerning the behavior includes thumbnails,filenames, items of classification, epitomized description of operationand operating time. The detailed information concerning the actionincludes the thumbnail (initial pose), filename, operating time, initialpose, end pose or the file capacity. The detailed information concerningthe motion includes the thumbnail (initial pose), filename, operatingtime, initial pose, end pose and the file capacity. The detailedinformation concerning the sound includes the thumbnail (iconrepresenting the sound), filename, operating time and the file capacity.The detailed information concerning the LED operation includes thethumbnail (icon representing the sound), filename, operating time andthe file capacity.

On top of the project window, there are provided a menu bar, includingmenus ‘file’, ‘edit’, ‘material’ and ‘help’.

If the menu ‘file’ is selected, a pull-down menu, made up of respectivesub-menus ‘new project’, ‘open project’, ‘save project’, ‘save newproject’ and ‘end’, appears (see FIG. 7).

If the sub-menu ‘new project’ is selected, a new project is produced. Ifan unsaved project is already opened, a dialog prompting the user toconfirm whether or not the project is to be saved appears.

If the sub-menu ‘open project’ is selected, the pre-existing projectfile is opened. If the unsaved project is already opened, a dialogappears to prompt the user to confirm whether or not the project is tobe saved, in the manner as described above.

If the sub-menu ‘save project’ is selected, the relevant project file isoverwrite-saved. If the file has not been saved, a file setting dialog,as later explained, appears, as in saving a new project, to prompt theuser to input the filename.

If the sub-menu ‘save new project’ is selected, a file setting dialogappears to prompt the user to input the filename.

If the sub-menu ‘end’ is selected, this project window is closed. If theproject file in the window has not been saved, a dialog appears toprompt the user whether or not this is to be saved.

If the menu ‘material’ is selected, a pull-down menu, made up ofsub-menus ‘create new behavior’, ‘create new action’, ‘read-in material’and ‘delete material’ appears (see FIG. 8).

If the sub-menu ‘create new behavior’ is selected, the behavior editingwindow is opened in a novel state. This behavior is automatically addedto the list of the behavior in the project window. The behavior editingis not directly related to the purport of the present invention andhence is not explained in further detail herein.

If the sub-menu ‘create new action’ is selected, the action editingwindow 200, as later explained and as shown in FIG. 9, is opened in anovel state. This action is automatically added to the list of theactions in the project window.

If the sub-menu ‘read-in material’ is selected, a file specifying dialogappears to register a usable material file in the project. Thisoperation is the same as that occurring on drag-and-drop from theexplorer.

If the sub-menu ‘delete material’ is selected, valid display occurs onlywhen the item is in a selected state. On selection, the item is deletedfrom the list in the project window. It should be noted that it is notthe file that is deleted from the directory.

The menu ‘help’ includes sub-menus such as topic, support web or versioninformation.

Below the menu bar, there are mounted tool buttons for instantaneouslyinvoking frequently used functions, such as create new behavior button(New Behavior), create new action button (New Action) or trash (Trash).

The create new behavior button is equivalent to the sub-menu ‘create newbehavior’ in the menu ‘material’. The create new action button isequivalent to the sub-menu ‘create new action’ in the menu ‘material’.The trash is equivalent to the sub-menu ‘delete material’ in the menu‘material’.

In the project window, the so-called drag-and-drop operation is allowed.That is, a file icon on the explorer may be dragged to an optional siteof the tree for direct registration.

Moreover, the material on the tree list can be dragged to any desiredediting window. The action can be dragged to the behavior window, whilstthe motion, sound and LED operations can be dragged tot the actionwindow.

FIG. 9 schematically shows the structure of an action editing window200. On this action editing window 200, the timings of the jointmovement (motion) and the those of the sound and LED operations of themobile robot 1 along time axis may be set. The results of editing on theediting window are saved as action files having the extension “act”.Meanwhile, in the case of the authoring system in which different actionediting windows 200 are provided depending on the difference in themodel of the mobile robot 1 (or on the difference of the information onthe hardware structure comprised of the combination of CPC components),the action editing windows 200 may be adapted to be switched responsiveto the model selection operations by the user.

As shown, the action editing window 200 is made up of a title bar, amenu bar and an editing area for setting the motion data, sound data andthe LED operation data on the time axis.

In the menu bar, there are provided menus ‘file’, ‘material’ and ‘help’.

If the menu ‘file’ is selected, there appears a pull-down menu comprisedof sub-menus ‘new action’, ‘open action’, ‘save action’, ‘sve newaction’, ‘replay on actual machine’ and ‘close’ (see FIG. 10).

If the sub-menu ‘new action’ is selected, a novel action is produced. Ifalready an unsaved action is opened, there appears a dialog promptingthe user to confirm whether or not the action is to be saved.

If the sub-menu ‘open new action’ is selected, a pre-existing actionfile is opened. If an unsaved action has already been opened, thereappears a dialog prompting the user to confirm whether or not the actionis to be saved.

If the sub-menu ‘save action’ is selected, the relevant action file isoverwrite-saved. In case of an unsaved file, a file setting dialogappears, as in the case of new action saving, as later explained, toprompt the user to input the filename.

If the sub-menu ‘save new action’ is selected, a file setting dialogappears to prompt the user to input a filename.

If the sub-menu ‘replay on actual machine’ is selected, the action file,edited on the action editing window 200, shown in FIG. 9, is transferredto the actual machine, that is to the mobile robot 1, to reallyreproduce the file by way of a trial. The action file may be transferredto the mobile robot 1 via near radio data communication, such asBluetooth, or moved between devices through the intermediary of amedium, such as a memory card.

If the sub-menu ‘close’ is selected, this action editing window 200 isclosed. If an action file(s) in the window is as yet not saved, a dialogappears to prompt the user to confirm whether or not this file is to besaved.

If the menu (edit) is selected, there appears a pull-down menu comprisedof sub-menus ‘return’, ‘slice’, ‘copy motion’, ‘copy sound’, ‘copy LED’.‘overwrite paste’, ‘insert paste’, ‘delete’, ‘form keyframe’. ‘insertframe’, ‘insert number of specified frames’, ‘delete frames’ and ‘deletespecified frame’ (see FIG. 11).

If the sub-menu ‘revert’ is selected, undo processing is carried outbeginning from the near-by operation.

If the sub-menu ‘slice’ is selected, the motion over a selected timespan, if any, is cut, whereas, if there is no such time span, themotion, sound and the LED operations of the frame in question, are cut.Actually, the so cut data is transiently stored in a clipboard. By thiscutting, not the frame itself but the information concerning thecontents of the frame is lost.

If the sub-menu ‘copy motion’ is selected, the motion over a selectedtime span, if any, is cut. Actually, the so cut data is transientlystored in a clipboard.

If the sub-menu ‘copy sound’ is selected, the sound over a selected timespan, if any, is cut. Actually, the so cut data is transiently stored ina clipboard.

If the sub-menu ‘copy LED’ is selected, the LED operation over aselected time span, if any, is copied. Actually, the so copied data istransiently stored in a clipboard:

If the sub-menu ‘overwrite paste’ is selected, the contents stored inthe clipboard are pasted at the current time point.

If the sub-menu ‘insert paste’ is selected, the contents stored in theclipboard are inserted and pasted at the current time point.

If the sub-menu ‘delete’ is selected, the motion over a selected timespan, if any, is deleted, whereas, if there is no such time span, themotion, sound and the LED operation, that is the action, of the frame inquestion is deleted.

If the sub-menu ‘form keyframe’ is selected, the frame of the currenttime point is formed into a key frame. That is, a pose can be generatedon interpolation between pre-existing keyframes and formed into newkeyframe data.

If the sub-menu ‘insert frame’ is selected, the frame(s) for a selectedtime span, if any, is inserted at the current time point. As a result ofthe frame insertion operation, the overall time of the action iselongated by the specified frame time period.

If the sub-menu ‘insert specified number of frames’ is selected, thereappears a numerical input dialog so that a number of framescorresponding to the numerical value as input on the dialog areinserted. As a result of the insertion of the specified number offrames, the overall time of the action is elongated by the specifiedframe time period.

If the sub-menu ‘delete frame’ is selected, the frame(s) correspondingto a selected time span, if any, is deleted from the current time point.At this time, frames lying towards left in the editing area are padded.As a result of the frame deletion, the overall time of the action isshorter by the time corresponding to the deleted frames.

If the sub-menu ‘delete specified frames’ is selected, there appears anumerically input dialog to delete the frames corresponding to thenumerical figure input on the dialog. The numerical figures as input aretime-specifying figures. At this time, frames lying towards left in theediting area are padded. As a result of the frame deletion, the overalltime of the action is shorter by the time corresponding specified frametime.

If the menu ‘material’ is selected, there further appears a pull-downmenu, comprised of ‘read-in motion’, ‘write-out motion’, ‘read-insound’, ‘write-out sound’, ‘read-in LED’ and ‘write-out LED’ (see FIG.12).

If the sub-menu ‘read-in motion’ is selected, the motion file is read-infrom the specified site of storage, such as local disc, so as to beinserted at the current time point on a motion channel 203 in theediting area as later explained. During this read-in operation, thekeyframe included in the motion file directly becomes a keyframe.

If the sub-menu ‘write out motion’ is selected, the motion of theselected time span is stored as the motion file in the site of storagespecified, such as local disc.

If the sub-menu ‘read-in sound’ is selected, the sound file is read-infrom the site of storage as specified, such as local disc, and isinserted at the current time point on a sound channel 204 in the editingarea.

If the sub-menu ‘write-out sound’ is selected, the sound of thespecified time span is stored as a sound file of, for example, the MIDIstyle, in the specified storage site, such as local disc.

If the sub-menu ‘read-in LED’ is selected, the LED operating file isread-in from the site of storage as specified, such as local disc, andis inserted at the current time point on an LED channel in the editingarea, as later explained.

If the sub-menu ‘write-out sound’ is selected, the sound of thespecified time span is stored as an LED file of, for example, the MIDIstyle, in the specified storage site, such as local disc.

In the menu ‘help’, there are provided sub-menus, such as topics,support webs and the version information.

Reverting to FIG. 9, the editing area in the action editing window 200is explained. As shown, the editing area of the action editing window200 is a two-dimensional time line style table comprised of the timeaxis in the horizontal direction and the channel in the verticaldirection. Within the time line table, there are a time ruler 201, akeyframe channel 202, a motion channel 203, a sound channel 204 and anLED operation channel 205.

With the time ruler 201, real-time display can be switched to display ofthe number of frames, and vice versa, using a unit switching radiobutton 207. In the instance shown in FIG. 9, real-time display isselected. The real-time display is graduated in seconds andmilliseconds, each being of two digits. The relationship between displayin real-time display and display on the time ruler 201 is shown by thefollowing equation 1:

00:00=0 sec

15:23=5 sec 23

13:87=13 sec 87.  (Equation 1)

In the graduation of the time ruler 201 in the representation in thenumber of frames, the number of frames is in four digits. The maximumnumber of frames of 9999 is approximately 160 seconds.

The frame width setting on the picture in each case of the real tinedisplay in second and display in the number of frames, with the unitbeing f, is as shown in the following Tables 1 and 2:

TABLE 1 Real Time Display possible display time reading of graduationssetting value (display) (seconds) (numerical figure) auxiliarygraduations 1 frame = 0.5 pixel (0.5 px/fr) ca. 20.12 seconds 02:00(each 62.5 px) 00:20 (each 6.25 px) 1 frame = 1 pixel (1 px/fr) ca.10.24 seconds 01:00 (each 62.5 px) 00:10 (each 6.25 px) 1 frame = 2pixel (2 px/fr) ca. 5.12 seconds 01:00 (each 125 px) 00:10 (each 12.5px) 1 frame = 3 pixel (3 px/fr) ca. 3.41 seconds 00:50 (each 93.75 px)00:05 (each 9.375 px) 1 frame = 4 pixel (4 px/fr) ca. 2.56 seconds 00:50(each 125 px) 00:05 (each 12.5 px) 1 frame = 6 pixel (6 px/fr) ca. 1.7seconds 00:25 (each 93.75 px) 00:025 (each 9.375 px) 1 frame = 8 pixel(8 px/fr) ca. 1.28 seconds 00.25 (each 125 px) 00:025 (each 12.5 px)

TABLE 2 Display in Number of Frames possible display time reading ofgraduations setting value (display) (seconds) (numerical figure)auxiliary graduations 1 frame = 0.5 pixel (0.5 px/fr) ca. 20.12 seconds200 (each 100 px) 20 (per 10 px) 1 frame = 1 pixel (1 px/fr) ca. 10.24seconds 100 (each 100 px) 10 (per 100 px) 1 frame = 2 pixel (1 px/fr)ca. 5.12 seconds 50 (each 100 px) 5 (per 10 px) 1 frame = 3 pixel (1px/fr) ca. 3.41 seconds 25 (each 75 px) 2.5 (per 7 px) 1 frame = 4 pixel(1 px/fr) ca. 2.56 seconds 25 (each 100 px) 2.5 (per 10 px) 1 frame = 6pixel (1 px/fr) ca. 1.7 seconds 10 (each 60 px) 5 (per 6 px) 1 frame = 8pixel (1 px/fr) ca. 1.28 seconds 10 (each 80 px) 1 (per 8 px)

Meanwhile, the possible display time in seconds means an approximatenumber of seconds for the maximized window size in a display inSVGA(Super Video Graphic Array). By the scrolling of the time axis(operation of a horizontal scroll bar 206, the time ruler 201 scrollsproperly.

The time ruler 201 includes an end time display field 208 and a currenttime display field 209, in addition to the unit switching radio button207.

In the end time display field 208, a time representing numerical value,indicating the end time of an action being edited, that is the operatingtime, is displayed (in the illustrated example, “09:40” (=9 seconds 40),is displayed). In the current time display field 209, a timerepresenting numerical value, indicating the current position, isdisplayed (in the illustrated example, “04:60” (=4 seconds 60) isdisplayed). These fields are editable text fields, such that, if ameaningful time representing numerical value is input, it becomes theend time, such that the final keyframe is moved or the current time ismoved to that position.

On the time ruler 201, an ‘initial pose specifying popup menu’, notshown, for specifying the initial pose, a ‘final pose specifying popupmenu’, not shown, for specifying the final pose, and the ‘time widthchanging popup menu’, again not shown, for changing the interval of thetime ruler 201, may be invoked.

In the editing area, a ‘keyframe line 210’ an ‘end time line 211’ and a‘current time line 212’ are displayed.

A keyframe line 210, indicating the time of keyframes 202 a to 202 b, aslater explained, is displayed as intersecting the respective channels.Thus, the user is able to continue the editing operation as he or shechecks for synchronization between the motion, sound and the LEDoperations.

On the other hand, since the end time line 211, indicating the end timeof an action being edited, is displayed as intersecting the respectivechannels, the user is able to visually grasp the time range beingedited. The end time line 211 may be grasped as the final pose keyframeline.

Moreover, the current time line 212, indicating the current time, isdisplayed as intersecting the respective channels. Basically, when anyone channel is clicked, the current time is moved to such clickedposition.

If the preview window, not shown, is opened in the editing area, athree-dimensional image of the mobile robot 1 at the current time isdisplayed at all times. This three-dimensional image is obtained by theauthoring system automatically generating an interpolated frame for thecurrent time and carrying out picture processing, such as coordinatetransformation, based on e.g., the movements of the respective jointactuators.

The keyframe channel 202 is an area in which to display the keyframealong the time axis prescribed by the time ruler 201.

In the present embodiment, the keyframe channel 202 can be opened orclosed as desired. FIG. 13 shows the action editing window 200 as thekeyframe channel 202 is opened (keyframe detail channel). On eachrelevant site of the time axis in the keyframe channel 202, there isplaced a thumbnail representing a key frame. What is termed the‘keyframe’ here means a picture frame delineating the pose at therelevant time of the mobile robot effectuating the motion.

The initial pose and the final pose means special keyframes at thebeginning and trailing ends of a keyframe channel. The first and lastkeyframes are put from the outset.

During the time interval on the keyframe channel, devoid of a keyframe,a frame interpolated by the keyframes on both sides of this timeinterval, referred to below as interpolated frame, is reproduced. Theinterpolated frame is not displayed on the keyframe. With the authoringsystem of the instant embodiment, if the respective keyframes arearrayed on the keyframe channel, the motion smoothly interconnecting theposes stated in the respective keyframes, is automatically generated bycomputer processing. The center of gravity of the 3D model can also beset with each keyframe to approximate the apparent movements of the 3Dmodel to that of a real machine.

Each keyframe is arranged on the keyframe channel so that the left endof the thumbnail will be the time point of the keyframe. Moreover, thethumbnail can be dragged in the left and right direction along the timeaxis, the keyframe line then performing the followup movement to changethe time of the corresponding keyframe. It is noted that the extensionand contraction of the keyframe of the last pose is the extension andcontraction of the overall action time.

When the thumbnail is double-clicked, the pose editing window of therelevant pose is opened to enable the pose editing. It should be notedthat the initial and trailing poses are not editable such thatdouble-clicking these poses cannot open the pose editing window. Thepose editing window will be explained in detail subsequently.

The motion channel 203 is an area for editing and displaying the motioncontents along the time axis prescribed by the time ruler 201.

In the instant embodiment, the motion channel 203 may be opened andclosed. FIG. 14 shows the action editing window 200, with the motionchannel 203 opened (motion detail channel). The motion is defined by themovements of the respective joint actuators forming the mobile robot 1.In the motion channel 203, the timing charts stating the chronologicalmovements of the respective joint actuators are listed up in a treestyle in accordance with the living body simulating model (tree view).

The segmented line graphs of the respective timing charts represent timechanges of movements, that is rotational angles, of the relevant jointactuators.

The setting values at the relevant time of the relevant joint actuatorscan be changed by vertically dragging the points of intersection of thekeyframe line 210 and the segmented line. Moreover, the dragging changesthe poses corresponding to the keyframe line 210 to enable the automaticupdating of the keyframe contents.

On the motion detail channel, the movement of each joint actuator can bevisually grasped in the timing chart style. The segmented line can bedirectly acted on by drag-and-drop. A segmented line concerning a givenjoint actuator can be copied to another joint actuator. The result isthat the segmented line for a given joint actuator may be copied toanother joint actuator. Consequently, the motion file editing operationcan be performed intuitively, while the labor in the editing operationcan be saved appreciably. Moreover, by the copying operation, regularmovements, such as movements symmetrical in the left and rightdirection, may be edited extremely readily. There are also occasionswherein motion data of a given motion differs depending on thedifference of the model of the mobile robot 1, that is the difference inthe information in the hardware structure ascribable to differentcombinations of the CPC components. In such case, the data can bere-used as data for different models by applying data transformation onthe basis of the model-based fixed data.

The motion detail channel and its tree view are scrolled horizontallyand vertically in keeping with the operation of the scroll bar for thehorizontal direction and that for the vertical direction.

The sound channel is an area for displaying sound data along the timeaxis prescribed by the time ruler 201. In the present embodiment, the‘sound detail window’ independent from the action editing window 200 maybe opened to edit the sound data of the MIDI style on the window by GUIoperation. The sound detail window will be explained in detailsubsequently.

The sound channel 204 is provided with a sound ON/OFF check box 213. Bymarking the check box, the sound may be issued in reproduction.

The LED operation channel 205 is an area in which to display LEDoperating data along the tine axis prescribed by the time ruler 201. Inthe present embodiment, an ‘LED detail window 500’ independent from theaction editing window 200 may be opened to edit the LED operating dataof the MIDI style on the window by GUI operation. The LED detail window500 will be explained later in detail.

The LED operating channel 205 is provided with an LED ON/OFF check box214. By marking the check box, the LED operation may be energized inreproduction.

The action editing window 200 is able to accept the drag-and-dropoperation from the project window (see FIG. 6). That is, the respectivefiles, as constituent elements of an action, such as motion file, soundfile or the LED file, can be directly dragged and dropped from theproject window for registration in the action window extremely readily.

The action editing window 200 is also able to accept the drag-and-dropoperation from the MS Windows explorer. That is, the respective files,as constituent elements of an action, such as motion file, sound file orthe LED file, can be directly dragged and dropped from the explorerwindow for registration in the action window extremely readily. Thefiles registered in the action window are simultaneously registered inthe project window.

FIG. 15 schematically shows the structure of a sound detail window 300used for editing the sound file of the MIDI style. As shown, the sounddetail window 300 is made up by a title bar, a menu bar and an editingarea in which to execute the editing of the sound file of the MIDI styleby GUI operations.

In the menu bar, there are provided respective menus ‘file’, ‘edit’,‘set’ and ‘help’.

If the menu ‘file’ is selected, there appears a pull-down menu comprisedof sub-menus ‘new sound’, ‘open sound’, ‘save sound’, ‘save new sound’and ‘close’ (see FIG. 16).

If the sub-menu ‘new sound’ is selected, a novel MIDI sound is produced.If already an unsaved MIDI sound is opened, there appears a dialogprompting the user to confirm whether or not the MIDI sound is to besaved.

If the sub-menu ‘open sound’ is selected, a pre-existing MINI sound fileis opened. If an unsaved MIDI sound has already been opened, thereappears a dialog prompting the user to confirm whether or not the actionis to be saved (see the same figure).

If the sub-menu ‘save sound’ is selected, the relevant action file isoverwrite-saved. In case of an unsaved file, a file setting dialogappears, as in the case of new action saving, as later explained, toprompt the user to input the filename.

If the sub-menu ‘save new sound’ is selected, a file setting dialogappears to prompt the user to input a filename.

If the menu (close) is selected, the sound detail window 300 is closed.If the sound file in the window is not as yet saved, there appears adialog prompting the user to confirm whether or not the unsaved file isto be saved.

If the menu ‘edit’ is selected, there appears a pulldown menu comprisedof respective sub-menus of ‘revert’, ‘slice’, ‘copy’, ‘overwrite paste’,‘insert paste’ and ‘delete’ (see FIG. 17).

If the sub-menu ‘revert’ is selected, undo processing is carried outbeginning from a near-by operation.

If the sub-menu ‘slice’ is selected, the sound over a selected timespan, if any, is cut. Actually, the so cut data is transiently stored ina clipboard. By this cutting, not the frame itself but the informationconcerning the contents of the frame is lost.

If the sub-menu ‘copy’ is selected, the sound over a selected time span,if any, is cut. Actually, the so cut data is transiently stored in aclipboard.

If the sub-menu ‘overwrite paste’ is selected, the contents stored inthe clipboard are pasted at the current time point.

If the sub-menu ‘insert paste’ is selected, the contents stored in theclipboard are inserted and pasted at the current time point.

If the sub-menu ‘delete’ is selected, the motion over a selected timespan, if any, is deleted. It is not the frame itself but the informationon the contents of the frame that is lost.

If the menu ‘setting’ is selected, there further appears a pulldown menucomprised of sub-menus ‘length of quarter notes’ and ‘meter’ (see FIG.18).

The sub-menu ‘length of a quarter note’ further has a sub-menu, notshown, and can be subdivided only for one fourths of the note. Thelength so set is displayed as a grid on the score along the time axisdirection.

The sub-menu ‘meter’ further has a sub-menu specifying the rhythm. Basedon the value, here set, there is delineated a line determining the meteron the time axis grid on the score.

In the menu ‘help’, there are contained the sub-menus, such as topic,support web or the version information.

Reverting to FIG. 15, the editing area of the sound detail window 300for the MIDI sound is explained. The editing area is a two-dimensionaltime-line table, formed by the time axis in the transverse direction andby the channel in the vertical direction. The time line table is made upby a time ruler 301, a keyframe channel 302, a score channel 303 and avelocity channel 304.

The time ruler 301 exploits a unit switching radio button 305 to switchbetween real time display and the display with the number of frames. Inthe instance shown in FIG. 15, real-time display is selected. Thereal-time display is in second: millisecond, each being of two digits.As for the relationship between the real time in the real-time displayand the display with the time ruler 301, reference is had to theequation 1 above. The time ruler 301 with display with the number offrames is graduated so that the number of frames is represented by fourdigits. The maximum number 9999 of frames is equivalent to approximately160 seconds.

As for the frame width setting on the picture in each case of the realtime display in seconds and the display with the number of frames f,reference is had to Tables 1 and 2 above.

The time ruler 301 includes an end time display field 306 and a currenttime display field 307, in addition to the unit switching radio button305. In the end time display field 306, a time representing numericalfigure indicating the end time of the action being edited, that is theoperating time, is displayed. In the illustrated instance, “09:40” (=9seconds 40) is displayed. In the current time display field 307, a timerepresenting numerical figure for the current position is displayed. Inthe illustrated instance, “04:60” (=4 seconds 60) is displayed. Thesefields are editable text fields. When a numerical figure for anymeaningful time point is input, it becomes the end time such that thelast keyframe is moved or the current time is moved to such position.

On the time ruler 301, a ‘time width changing popup menu’, not shown,for changing the interval of the time ruler 301, may be invoked.

In the editing area, a ‘keyframe line 308’, an ‘end time line 309’ and a‘current time line’ 310 are displayed as time display lines. Thekeyframe line 308, representing the time of each keyframe, as laterexplained, is demonstrated as intersecting the respective channels. Theuser is able to perform the operation of editing the MIDI sound as theor she visually checks for synchronization with the keyframe. Moreover,since the end time line 309 indicating the end time of the action beingedited is displayed as intersecting the respective channels, the user isable to visually comprehend the time range for editing. Moreover, thecurrent time line 310, indicating the current time, is displayed asintersecting the respective channels. Basically, when any optionalchannel is clicked, the current time shifts to such position.

In the keyframe channel 302, keyframe positions, as acquired from theaction editing window 200 along time axis as specified by the time ruler301, are displayed. However, in distinction from the case of the actionediting window 200 (see FIG. 13), the keyframe channel cannot be openednor closed within the sound detail window 300.

The score channel is an area for editing the MIDI sound by GUIoperation, and is made up by a piano keyboard and a basic grid along thetime axis direction. It should be noted that the effective sound rangediffers depending on the model of the mobile robot 1.

On the piano keyboard, the maximum sound range allowed by the hardwarespecifications of the mobile robot 1 is demonstrated by image display ofthe piano keyboard. Alternatively, the reproducible sound range may bedisplayed brightly, with the remaining areas being displayed in gray. Inthe basic C key portion, the pitch of the absolute sound, such as C3 orC4, is displayed.

In the score part, the grid of time width of the quarter note as set isdisplayed. By the value as set by the meter, described above, the linesof the two grids, that is two beats, three grids, that is three beats,or four grids, that is four beats, are emphasized.

On the score channel, a score is formed by the sound duration as thebasis of the time axis and by the pitch of piano keys. One mesh istermed a cell. The cell with the sound is colored. However, in a replaymodel for only one sound, no sound can be put in the different scales onthe same time axis.

If a void, that is uncolored, cell is clicked, the sound of a durationof the sound note mark as selected is put. If the sound is present atanother pitch position at the same time, the sound is replaced by theclicked pitch. If the cell where the sound is already present isclicked, the sound is removed.

On the left side of the keyboard are displayed marks of notes, such as asixteenth note, eighth note, quarter note, a half note, a whole note,dotted eighth note, dotted quarter note and a dotted half note. Thesesound note marks have reciprocally exclusive selection states such thatonly one of them is necessarily selected. The selected item is varied onmouse click operations.

The velocity channel 304 is an area for demonstrating the intensity ofthe velocity from one sound to another. Although the instance of FIG. 15shows the sound intensity in a bar graph, it may also be shown by asegmented line graph. The sound intensity at each nodal point can beadjusted by dragging the upper end of each bar in the bar graph. Themaximum sound volume is set as default.

A ‘replay button’ for commanding the replay of the edited sound may alsobe provided in the sound detail channel.

FIG. 19 schematically shows the structure of a sound detail window 400for displaying the sound file of the WAVE form. As shown, the sounddetail window 400 is made up of a title bar, a menu bar and an editingarea for editing the sound file of the WAVE form.

In the menu bar, there are provided menus ‘file’, ‘edit’ and ‘help’.

If the menu ‘file’ is selected, there appears further a pull-down menucomprised of sub-menus ‘open sound’, ‘save sound’, ‘save new sound’ and‘close’ (see FIG. 20).

If the sub-menu ‘open sound’ is selected, the pre-existing WAVE soundfile is opened. If an unsaved sound has already been opened, thereappears a dialog prompting the user to confirm whether or not the WAVEsound is to be saved.

If the sub-menu ‘save sound’ is selected, the relevant WAVE sound fileis overwrite-saved. If the sub-menu ‘save new sound’ is selected, a filesetting dialog appears to prompt the user to input a filename.

If the sub-menu ‘close’ is selected, this sound editing window 400 isclosed. If a sound file(s) in the window is as yet not saved, a dialogappears to prompt the user to confirm whether or not this file is to besaved.

If the menu (edit) is selected, there appears a pull-down menu comprisedof sub-menus ‘return’, ‘slice’, ‘copy’, ‘overwrite paste’, ‘insertpaste’ and ‘delete’ (see FIG. 21).

If the sub-menu ‘revert’ is selected, undo processing is carried outbeginning from the near-by operation.

If the sub-menu ‘slice’ is selected, the sound over a selected timespan, if any, is cut. Actually, the so cut data is transiently stored ina clipboard. By this cutting, not the frame itself but the informationconcerning the contents of the frame is lost.

If the sub-menu ‘copy’ is selected, the motion over a selected timespan, if any, is copied. Actually, the so copied data is transientlystored in a clipboard.

If the sub-menu ‘overwrite paste’ is selected, the contents stored inthe clipboard are pasted at the current time point.

If the sub-menu ‘insert paste’ is selected, the contents stored in theclipboard are inserted and pasted at the current time point.

If the sub-menu ‘delete’ is selected, the motion over a selected timespan, if any, is deleted. The frame itself is not lost, but is in asilent state.

In the menu ‘help’, there are included sub-menus, such as topic, supportweb or the version information.

The editing area of the sound detail window 400 for WAVE sound istwo-dimensional time-line table, formed by the time axis in thetransverse direction and by the channel in the vertical direction. Thetime line table is made up by a time ruler 401, a keyframe channel 402and a WAVE channel 403.

The time ruler 401 exploits a unit switching radio button 404 to switchbetween real time display and the display with the number of frames. Inthe instance shown in FIG. 15, real-time display is selected. Thereal-time display is in second: millisecond, each being of two digits.As for the relationship between the real time in the real-time displayand the display with the number of frames, reference is had to theequation 1 above. The time ruler 401 with display with the number offrames is graduated so that the number of frames is represented by fourdigits. The maximum number 9999 of frames is equivalent to approximately160 seconds.

As for the frame width setting on the picture in each case of the realtime display in seconds and the display with the number of frames f,reference is had to Tables 1 and 2 above.

The time ruler 401 includes an end time display field 405 and thecurrent time display field 406, in addition to the unit switching radiobutton 404.

In the end time display field 405, a time representing numerical figureindicating the end time of the action being edited, that is theoperating time, is displayed. In the illustrated instance, “09:40” (=9seconds 40) is displayed. In the current time display field 306, a timerepresenting numerical figure for the current position is displayed. Inthe illustrated instance, “04:60” (=4 seconds 60) is displayed. Thesefields are editable text fields. When a numerical figure for anymeaningful time point is input, it becomes the end time such that thelast keyframe is moved or the current time is moved to such position.

On the time ruler 401, a ‘time width changing popup menu’, not shown,for changing the interval of the time ruler 401, may be invoked.

In the editing area, a ‘keyframe line 407’, an ‘end time line 408’ and a‘current time line 409’ are displayed as time display line.

The keyframe line 407, representing the time of each keyframe, as laterexplained, is demonstrated as intersecting the respective channels. Theuser is able to perform the operation of editing the MIDI sound as theor she visually checks for synchronization with the keyframe. Moreover,since the end time line 408 indicating the end time of the action beingedited is displayed as intersecting the respective channels, the user isable to visually comprehend the time range for editing. Moreover, thecurrent time line 409, indicating the current time, is displayed asintersecting the respective channels. Basically, when any optionalchannel is clicked, the current time shifts to such position.

In the keyframe channel 402, keyframe positions, as acquired from theaction editing window 200 along time axis as specified by the time ruler401, are displayed. However, in distinction from the case of the actionediting window 200 (see FIG. 13), the keyframe channel cannot be openednor closed within the sound detail window 400.

In the WAVE channel 403, the contents of the sound file of the WAVE formare represented as the waveform, as shown in FIG. 19. However, indistinction from the case of the score channel for MIDI style, describedabove, only the basic slicing operation is allowed on the WAVE channel403.

Additionally, a ‘replay button’ for commanding the replay of the editedsound may also be provided in the sound detail channel.

FIG. 22 schematically shows the structure of a sound detail window 500used for displaying and editing the LED operation file stated in theMIDI style. As shown, the sound detail window 500 is made up by a titlebar, a menu bar and an editing area in which to execute the editing ofthe LED operation file of the WAVE style.

In the menu bar, there are provided respective menus ‘file’, ‘edit’,‘set’ and ‘help’.

If the menu ‘file’ is selected, there appears a pull-down menu comprisedof sub-menus ‘new LED operation’, ‘open LED operation’, ‘save LEDoperation’, ‘save new LED operation’ and ‘close’ (see FIG. 23).

If the sub-menu ‘new LED operation’ is selected, a novel LED operationis produced. If already an unsaved MIDI sound is opened, there appears adialog which prompts the user to confirm whether or not the LEDoperation is to be saved.

If the sub-menu ‘open LED operation’ is selected, a pre-existing LEDoperation file is opened. If an unsaved MIDI sound has already beenopened, there appears a dialog prompting the user to confirm whether ornot its MIDI sound is to be saved (as above).

If the sub-menu ‘save LED operation’ is selected, the relevant LEDoperation file is overwrite-saved. In case of an unsaved file, a filesetting dialog appears, as in the case of saving a new LED operation, aslater explained, to prompt the user to input the filename.

If the sub-menu ‘save new LED operation’ is selected, a file settingdialog appears to prompt the user to input a filename.

If the menu ‘close’ is selected, the LED operation detail window isclosed. If the LED operation file in the window is not as yet saved,there appears a dialog to prompt the user to confirm whether or not theunsaved file is to be saved.

If the menu ‘edit’ is selected, there appears a pulldown menu comprisedof respective sub-menus of ‘revert’, ‘slice’, ‘copy’, ‘overwrite paste’,‘insert paste’ and ‘delete’ (see FIG. 17).

If the sub-menu ‘revert’ is selected, undo processing is carried outbeginning from the near-by operation.

If the sub-menu ‘slice’ is selected, the LED operation over a selectedtime span, if any, is cut. Actually, the so cut data is transientlystored in a clipboard. By this cutting, not the frame itself but theinformation concerning the contents of the frame is lost.

If the sub-menu ‘copy’ is selected, the LED operation over a selectedtime span, if any, is cut. Actually, the so copied data is transientlystored in a clipboard.

If the sub-menu ‘overwrite paste’ is selected, the contents stored inthe clipboard are pasted at the current time point.

If the sub-menu ‘insert paste’ is selected, the contents stored in theclipboard are inserted and pasted at the current time point.

If the sub-menu ‘delete’ is selected, the LED operation over a selectedtime span, if any, is deleted. It is not the frame itself but theinformation on the contents of the frame that is lost.

In the menu ‘help’, there are included sub-menus, such as topic, supportweb or the version information.

Reverting to FIG. 22, the editing area of the LED detail window 500 isexplained. The editing area of the LED detail window for WAVE sound is atwo-dimensional time-line table, formed by the time axis in thetransverse direction and by the channel in the vertical direction. Thetime line table is made up by a time ruler 501, a keyframe channel 502and a WAVE channel 503.

The time ruler 501 exploits a unit switching radio button 504 to switchbetween real time display and the display with the number of frames. Inthe instance shown in FIG. 22, real-time display is selected. Thereal-time display is in second: millisecond, each being of two digits.As for the relationship between the real time in the real-time displayand the display with the number of frames, reference is had to theequation 1 above. The time ruler 501 with display with the number offrames is graduated so that the number of frames is represented by fourdigits. The maximum number 9999 of frames is equivalent to approximately160 seconds.

As for the frame width setting on the picture in each case of the realtime display in seconds and the display with the number of frames f,reference is had to Tables 1 and 2 above.

The time ruler 501 includes an end time display field 505 and a currenttime display field 506, in addition to the unit switching radio button504. In the end time display field 505, a time representing numericalfigure indicating the end time of the action being edited, that is theoperating time, is displayed. In the illustrated instance, “09:40” (=9seconds 40) is displayed. In the current time display field 506, a timerepresenting numerical figure for the current position is displayed. Inthe illustrated instance, “04:60” (=4 seconds 60) is displayed. Thesefields are editable text fields. When a numerical figure for anymeaningful time point is input, it becomes the end time such that thelast keyframe is moved or the current time is moved to such position.

On the time ruler 501, a ‘time width changing popup menu’, not shown,for changing the interval of the time ruler 501, may be invoked.

In the editing area, a ‘keyframe line 507’, an ‘end time line 508’ and a‘current time line 509’ are displayed as time display lines. Thekeyframe line 507, representing the time of each keyframe, as laterexplained, is demonstrated as intersecting the respective channels. Theuser is able to perform the operation of editing the LED operation as heor she visually checks for synchronization with the keyframe. Moreover,since the end time line 508 indicating the end time of the action beingediting is displayed as intersecting the respective channels, the useris able to visually comprehend the time range for editing. Moreover, thecurrent time line 509, indicating the current time, is displayed asintersecting the respective channels. Basically, when any optionalchannel is clicked, the current time shifts to such position.

In the keyframe channel 502, keyframe positions, as acquired from theaction editing window 200 along time axis as specified by the time ruler501, are displayed. However, in distinction from the case of the actionediting window 200 (see FIG. 13), the keyframe channel cannot be openednor closed within the sound detail window 500.

The score channel is an area for editing the LED operation, stated inthe MIDI style, by GUI operations, and is constituted by a list ofmounting sites of LEDs on the main body unit of the mobile robot 1, andby a basic grid in the time axis direction. In the present embodiment,LEDs are arranged on the forehead, a right eye α, a left eye α, arighteye β, a left eye β, a right eye γ, a left eye γ, a tail α and a tail β.

On the score channel, there are formed scores of respective site list bydisplaying the illuminated state of the LEDs of the respective sites onthe time axis. One mesh is termed a ‘cell’. The cells of the positionsof lighting of the LEDs on the time axis are colored depending on thecolor and the lighting intensity. In distinction from the score channelfor editing the MIDI sound, as described above with reference to FIG.15, the LEDs of the respective sites can be turned on/off independentlyof one another.

On the left lateral side of the score channel, there is displayed an LEDsite visual 510 which graphically represents the respective sites of theLEDs that can be modified.

Below the LED site visual 510, there are arrayed velocity marksindicating rise, an uppermost position maintained, and descent. Thesemarks own reciprocally exclusive selection states such that one of themis selected at all times. The selection item is changed by mouse click.

The authoring system of the present embodiment includes a preview window600 for visually confirming the contents of the action edited on theaction editing window 200.

FIG. 25 schematically shows the structure of the preview window 600. Asshown therein, the preview window 600 is made up of a ‘3D view 601’, a‘set of 3D display switching buttons’, a ‘current time field’ 606 and a‘set of replay buttons’.

On the 3D preview 601 is perpetually displayed an image of thethree-dimensional mobile robot 1 generated by computer graphicsprocessing. The line of sight direction can be moved to change the‘look’ of the view by dragging on this view. Although not shown, the 3Cmodel can also be designed to be pre-viewed simultaneously from two ormore viewing points. The view movement is operatively linked to theuser's inputting operations on the set of 3D display switching buttons.There is also provided the function of checking for collision ofrespective sites or the driving speeds of the respective joints by this3D model, as an aid in creating and processing the 3D display of themotion. The center of gravity of the 3D model can be set on each keyframe to approximate the apparent movement of the 3D model to closer tothe movement of an actual machine.

On the right side of the 3D preview 601 is arranged an LED operationpreview area for demonstrating the LED operations. In this preview area,the manner of the turning on/off of the LEDs of the mobile robot 1 isdisplayed in synchronism with the movements of the mobile robot 1 on the3D preview 601.

The set of the set of 3D display switching buttons includes a‘rotational button 602’, ‘zoom-in zoom-out button 603’, a ‘pan button’604 and a ‘home position button 605’. The user may click these buttonsto change the line of sight direction within the 3D preview 601.

For example, if the rotational button is clicked, the rotating mode isset. If then the 3D preview 601 is dragged, the 3D mobile robot 1 in the3D preview 601 is rotated.

If then the ‘zoom-in zoom-out button 603’ is clicked, the 3D preview 601is in the zoom mode. If then the 3D preview 601 is dragged in thevertical direction, the 3D mobile robot 1 in the 3D preview 601 iszoomed in/out.

If then the ‘pan button 604’ is clicked, the 3D preview 601 is in thepan mode. If the 3D view 601 then is dragged in the vertical directionand in the left and right direction, the mobile robot 1 in the 3Dpreview 601 is panned, that is moved at a high speed.

If the home position button 605 is clicked, the three-dimensionaldisplay of the mobile robot 1 reverts to a state of view of default,that is to a state of the robot as seen from the line of sightdirection.

In the current time field 606, the current time of the contents asdisplayed on the 3D preview 601 is displayed. In the instance shown, thecurrent time “04:60” is displayed. If any numerical figure meaningful astime is input to ths field, the display on the 3D preview 601 is changedto a frame of the relevant time. The current time position is alsorelatively visually displayed.

The set of replay buttons include a ‘frame rewind button 607’, a‘previous key frame button 608’, a ‘play/stop button 609’, a ‘stepwiseframe feed button 610’, a ‘frame feed button 611’ and a ‘loop replaybutton 612’.

If the ‘frame rewind button 607’ is clicked, the display of the 3Dpreview 601 reverts to the first frame. If the ‘previous key framebutton 608’ is clicked, the replay of the display on the 3D preview 601skips from the current position to the directly previous keyframe. Ifthe ‘play/stop button 609’ is clicked, the replay of the display of the3D preview 601 is started or stopped (the play/stop button 609 is haltedor in operation during play or stop, respectively). The ‘stepwise framefeed button 610’ is valid only during reproduction of the display of the3D preview 601 and, if the button is clicked, the display isintermittently fed on the frame basis. When the ‘frame feed button 611’is clicked, the display of the 3D preview 601 skips to the last frame.When the ‘loop replay button 612’ is clicked, the 3D preview 601 isdisplayed in a loop fashion.

The authoring system of the instant embodiment includes a pose window700 for editing a three-dimensional pose of the mobile robot 1 by GUIoperations consisting essentially in dragging.

The pose edited on the pose window 700 can be used e.g., as a keyframemaking up the motion. For example, the pose window 700 can be booted bydouble-clicking the desired keyframe on the keyframe channel.

FIG. 26 schematically shows the structure of the pose window 700. Onthis pose window 700, the rotational angles of the respective jointactuators forming the mobile robot 1 can be directly commanded by GUIoperations to specify the desired pose extremely readily. The posewindow 700 is made up of an entity specifying area 701, a listspecifying area 702, a setting value area 703, a 3D display area 704, aset of 3D display switching buttons 705 and a display switching popup706.

In the entity specifying area 701, a developed plan view of the mobilerobot 1 is displayed to permit the user to select the editable sites.The so selected sites correspond to the items of list commands and aredisplayed with emphasis or ‘blinked’ on the 3D display to switch thecontents of the setting value areas.

In the list specifying area 702, the editable sites of the mobile robot1 and the setting values thereof are displayed as a list. If the userselects a specified site from this list, the relevant site in the entityspecifying area 701 is displayed with emphasis. In the 3D display area704, emphasized display or blinking occurs to switch the contents of thesetting value area 703.

In the setting value area 703, the names of the setting sites, settingvalues, minimum settable values and maximum settable values of theeditable sites are displayed in a list. If the user selects a specifiedsite, its contents are switched. The setting values can be directly seton key input in an inputtable field. The angular expression is by anarc, with the setting value being varied on dragging a line forselection.

In the 3D display area 704, the full-body image of the mobile robot 1generated by 3D graphics is delineated along with the terrestrialground. If the user clicks to select the relevant site from the 3Ddisplay, the site can be selected with emphasis. The setting value canbe directly switched on dragging the selected site.

The contents displayed in the 3D display area 704 are operatively linkedwith the 3D display switching button, such that, on dragging on the viewof the 3D display area 704, the ‘look’ of the view, that is the line ofsight direction, can be changed.

The set of 3D display switching buttons includes a ‘rotational button’,a ‘zoom-in zoom-out button’, a ‘pan button’ and a ‘home positionbutton’. The user may click these buttons to change the line of sightdirection within the 3D display area 704.

For example, if the rotational button is clicked, the rotating mode isset. If then the 3D display area 704 is dragged, the mobile robot 1 inthe 3D display area 704 is rotated. If then the zoom-in zoom-out buttonis clicked, the mode is the zoom mode. If then the 3D display area 704is dragged in the vertical direction, the mobile robot 1 is zoomed inand out in the 3D display area 704. If then the pan button is clicked,the mode is the pan mode. If the mobile robot 1 then is dragged in thevertical direction and in the left and right direction in the 3D displayarea 704, the mobile robot 1 in the 3D display area 704 is panned, thatis moved at a high speed. If the home position button is clicked, thethree-dimensional display of the mobile robot 1 reverts to a state ofview of default, that is to a state of the robot as seen from the lineof sight direction.

On button clicking on the display switching popup 706, the a popup menu,not shown, comprised of a front side/back side/right lateral side/leftlateral side/upper side/bottom side/3D is displayed for switching to aview from the direction as selected by menu selection.

On the pose window 700, there are provided an OK button and a cancelbutton. If the OK button is clicked, all editing items in the window arevalidated to close the window and, if conversely the cancel button isclicked, all editing items are invalidated to close the window, in awell-known manner.

Meanwhile, the pose window 700 can be used not only for editing the poseof the mobile robot 1 on the authoring system, but also for reading inthe orientation as taught to the mobile robot 1 on an actual device,that is joint values of the respective joint actuators, into the systemfor pre-viewing.

FIG. 27 shows a block diagram for illustrating the processing sequencefor previewing the contents as directly taught on the actual device onthe pose window 700. The operations of the flowchart are hereinafterexplained.

First, an operator of the mobile robot 1 performs direct teaching, suchas by manually holding the trunk or legs on the actual machine to causethe actual machine to strike a pose (step S1).

The setting values in the editable sites, such as joint actuators,obtained as a result of the direct teaching, are then read-in andtransiently saved (step S2). The setting values are then transferred tothe authoring system (step S3).

There is no particular limitation to the method of data transfer to theauthoring system. For example, near radio data communication, such asBluetooth, may be used, or data transfer may be made between differentdevices over a recording medium, such as memory stick.

The authoring system reads-in the setting values of the editable sites(step S4) to open the pose window 700 to update the display contents orpicture contents in the entity specifying area 701, list specifying area702, setting value area 703 3D and in the display area 704 in accordancewith the read-in setting values (step S5).

The authoring system of the present embodiment includes a motionpreviewer 800 for previewing the motion as edited by the motion channelas explained previously or the motion having the respective poses editedby the pose window as keyframes.

FIG. 28 schematically shows the structure of the motion previewer 800.This motion previewer 800 can be opened on double-clicking the motionfile displayed in a tree style on the project window.

On the motion previewer 800, the motion can be previewed, while it canalso be copied for pasting on the action editing window 200.

The motion previewer 800 is adapted for displaying a thumbnail of one ormore keyframes 801 making up the motion, that is the thumbnail of theposes. The keyframes 801 are arrayed e.g., in the chronological order inwhich the motion is reproduced.

The keyframes in the motion previewer 800 may be dragged into the actionediting window 200. If there are too many keyframes making up the motionin the preview, horizontal scrolling is used.

[Supplement]

Although the present invention has been elucidated with reference tospecified embodiments thereof, the present invention can, of course, becorrected or substituted by those skilled in the art without departingfrom the scope of the invention.

Although the present embodiment is directed to an authoring system for apet type robot walking on four legs, like a dog, this is not intended tolimit the present invention because the present invention can similarlybe applied to a two-legged robot such as a humanoid robot or to a mobilerobot other than a legged robot.

Moreover, the ‘multi-joint’ as defined in the claim is not limited to aphysical apparatus typified in particular by a legged robot. Forexample, the authoring system of the present invention may, of course,be used for creating and editing the operating sequence for an animationemploying a character generated by computer graphics.

The present invention has been elucidated only by way of illustrationand hence is not to be construed in a limiting fashion. The purport ofthe present invention is to be verified in the light of the descriptionin the claims.

INDUSTRIAL APPLICABILITY

According to the present invention, described above, there may beprovided an excellent authoring system and method capable of supportingthe creation and editing of the sequence of commands and data stating apreset pattern of operations for a robot.

According to the present invention, there may be provided an excellentauthoring system and method capable of supporting the creation andediting of the movement patterns can be supported using a set ofcomponents prescribing the operating states of the robot.

Moreover, according to the present invention, there may be provided anexcellent authoring system and method whereby the component parts of therobot can be arrayed on the computer display to support the creation andediting of the movement pattern.

In the authoring system and method according to the present invention,chronological data forming the action of the mobile robot, such asmotion data, sound data or LED operation data, are arrayed along thetime axis for display on a time table of a two-dimensional time linestyle. Consequently, such a working environment may be provided in whichcreation and editing may be made as the user visually checks forsynchronization between respective chronological data to warrant aworking environment of efficient and intuitively comprehensible actionedition.

In the authoring system and method according to the present invention,such a tool may be provided in which a multi-joint structure, includinga robot first of all, may be handled as a new entertainment. Accordingto the present invention, the behavior of the multi-joint structure,including a robot in particular, can be programmed to formulate contentsextremely readily even in the absence of the profound knowledge aboutcomputer programming. For example, the user owns a tool for expressing amulti-joint structure to expand the world offered by the robot.

In the authoring system and method according to the present invention, auser is able to execute programming pertaining to the behavioralsequence of a multi-joint structure through GUI operations. Moreover,the programing operations on the GUI picture may be further simplifiedand improved in efficiency by providing abundant library.

The operating sequence, that is behavior, of a robot, may be constructedby unifying respective contents, that is motion, sound and the LDoperations. According to the present invention, such a workingenvironment may be provided which warrants facilitated synchronizationbetween the respective contents by exploiting a time line in an editingpicture of these respective contents. On the GUI picture according tothe present invention, the contents can not only be processed asindividual data but also treated as actions comprised of combinations ofdifferent contents.

What is claimed is:
 1. An authoring system for supporting the creationand editing of an action to be performed by a multi-joint robot, saidaction represented by a combination of a plurality of chronologicaldata, the system comprising: a user inputting unit for inputtingcommands or data from a user; a user presenting unit for presenting anediting area in which chronological data making up the action arearrayed chronologically along the time axis; and a chronological dataediting unit provided for each chronological data making up the action,said chronological data editing unit creating or editing relevantchronological data based on a user input through said user presentingunit.
 2. The authoring system according to claim 1 wherein one of thechronological data making up the action is motion data stating thechronological movements of respective joints of the multi-joint robot.3. The authoring system according to claim 1 wherein one of thechronological data making up the action is motion data which prescribeschronological movements of respective joints of the multi-joint robotand which, by arraying two or more keyframes each representing themulti-joint robot striking a preset pose on the time axis, smoothlyjoins the respective keyframes.
 4. The authoring system according toclaim 1 wherein one of the chronological data making up the action issound data output as sound in timed relation to reproduction of saidaction.
 5. The authoring system according to claim 4 wherein the sounddata is stated in the MIDI (Musical Instrumental Digital Interface) formor WAVE form.
 6. The authoring system according to claim 1 wherein oneof the chronological data making up the action is indicator display datastating the turning on/off of display indicators displayed in timedrelation to reproduction of said action.
 7. The authoring systemaccording to claim 1 wherein indicator display data is stated in theMIDI (Musical Instrumental Digital Interface) form.
 8. The authoringsystem according to claim 1 wherein the editing area presented by saiduser presenting unit is comprised of chronological data basedchronological data display channels, said data extending along thehorizontally arrayed time axis, said channels being arrayed in thevertical direction.
 9. The authoring system according to claim 8 whereinthe editing area presented by said user presenting unit includes a timeruler made up by graduations representing the time axis in real-time.10. The authoring system according to claim 8 wherein the editing areapresented by said user presenting unit includes one or more time displaylines extending in the vertical direction for indicating the relevanttime prescribed by a time ruler.
 11. The authoring system according toclaim 8 wherein the editing area presented by said user presenting unitincludes a vertically extending current time display line for indicatingthe current time on the time axis prescribed by the time ruler; saidcurrent time display line being shifted on the time ruler to a positioncorresponding to user actuation.
 12. The authoring system according toclaim 8 wherein the editing area presented by said user presenting unitincludes a display window for previewing movements of the multi-jointrobot at the current time.
 13. The authoring system according to claim 8wherein one of the chronological data making up the action is motiondata which prescribes the chronological movements of respective jointsof the multi-joint robot and which arrays two or more keyframes, eachrepresenting the multi-joint robot striking a preset pose, to smoothlyjoin the respective keyframes; said editing area presented by said userpresenting unit including a keyframe channel representing each keyframeor its thumbnail along the time axis prescribed by said time ruler. 14.The authoring system according to claim 13 wherein the keyframe time ischanged so as to follow up with dragging of said keyframe or itsthumbnail within the keyframe channel.
 15. The authoring systemaccording to claim 13 wherein a pose editing picture for editing arelevant pose is started responsive to a selecting operation by a userof a keyframe or its thumbnail within the keyframe channel.
 16. Theauthoring system according to claim 8 wherein one of the chronologicaldata making up the action is motion data stating the chronologicalmovements of respective joints of the multi-joint robot; the editingarea presented by said user presenting unit includes a motion channelfor editing and displaying the contents of a motion along the time axisprescribed by the time ruler.
 17. The authoring system according toclaim 16 wherein said motion channel is comprised of respective timingcharts representing chronological movements of respective joints of themulti-joint robot, said timing charts being arrayed in the verticaldirection.
 18. The authoring system according to claim 17 wherein themovements of joints at a relevant timing are changed so as to follow upwith dragging on the timing chart in said motion channel.
 19. Theauthoring system according to claim 8 wherein one of the chronologicaldata making up the action is sound data issued as sound in timedrelation to reproduction of an action; the editing area presented bysaid user presenting unit including a sound channel for indicating thecontents of the sound along the time axis prescribed by the time ruler.20. The authoring system according to claim 8 wherein one of thechronological data making up the action is indicator display datastating the operation of the turning on/off of display indicators, asoutput in timed relation to the reproduction of an action; the editingarea presented by said user presenting unit including a displayindicator channel for indicating the contents of the indicator dataalong the time axis prescribed by the time ruler.
 21. The authoringsystem according to claim 1 wherein one of the chronological data makingup the action is sound data output as sound in timed relation to thereproduction of an action; said user presenting unit further indicatinga sound editing area for indicating and editing the sound contents alongthe time axis prescribed by said time ruler.
 22. The authoring systemaccording to claim 21 wherein said sound editing area includes a scorechannel constituted by a basic grid along the time axis direction and apiano keyboard; a score being formed by the sound duration as thereference of the time axis and the pitch of the piano keys; the soundbeing edited by arraying the color corresponding to sound notes in acell corresponding to the desired time point and the sound scale. 23.The authoring system according to claim 21 wherein said sound editingarea includes a velocity channel for representing the intensity of eachsound along the time axis.
 24. The authoring system according to claim 1wherein one of the chronological data making up an action is indicatordata stating the turning on/off of an indicator, output in timedrelation to the reproduction of an action; said user presenting unitfurther indicating an indicator editing area for displaying and editingthe contents of indicator data along the time axis prescribed by thetime ruler.
 25. The authoring system according to claim 24 wherein saidindicator editing area includes a score channel constituted by a list ofsites of arraying of display indicators and by the basic grid along thetime axis direction; a score being edited from one site list to anotherby indicating the turned-on state of the indicator in each site on thetime axis on a score channel.
 26. The authoring system according toclaim 1 wherein said user presenting unit further displays a previewwindow for visually checking an action of the multi-joint robotgenerated based on each chronological data as edited by thechronological data editing unit.
 27. The authoring system according toclaim 26 wherein one of the chronological data making up an action ismotion data stating the chronological movements of the respective jointsof the multi-joint robot; said preview window including a 3D view areafor three-dimensional display of movements of the multi-joint robotgenerated based on motion data.
 28. The authoring system according toclaim 26 wherein one of the chronological data making up an action isindicator data stating the turning on/off of an indicator, output intimed relation to the reproduction of an action; said preview windowincluding an indicator operation preview area for displaying theoperation of the indicators corresponding to the indicator display datain synchronism with the preview of other chronological data.
 29. Theauthoring system according to claim 1 wherein said user presenting unitfurther displays a pose window for editing the pose of the multi-jointrobot by the GUI operation.
 30. The authoring system according to claim29 wherein said pose window includes an entity specifying area fordisplaying the multi-joint robot in a developed plan view for acceptinguser selection of editable sites.
 31. The authoring system according toclaim 29 wherein said pose window includes a list specifying area fordisplaying a list of editable sites of the multi-joint robot and settingvalues thereof.
 32. The authoring system according to claim 29 whereinsaid pose window includes a setting value area for displaying a list ofthe names of setting sites, setting values, settable maximum values andsettable minimum values of editable sites of the multi-joint robot. 33.The authoring system according to claim 29 wherein said pose windowincludes a 3D display area for 3D displaying a full image of themulti-joint robot generated by 3D graphics and for accepting userselection on said 3D display.
 34. The authoring system according toclaim 29 further comprising: data inputting means for externallyinputting chronological data making up an action of the multi-jointrobot; said pose window displaying the pose generated based on datainput from said data inputting means.
 35. The authoring system accordingto claim 1 wherein one of the chronological data making up an action ismotion data which prescribes chronological movements of respectivejoints of the multi-joint robot and which arrays two or more keyframeseach representing the multi-joint structure striking a preset pose tosmoothly join the respective keyframes; said user presenting unitfurther displaying a motion preview window arraying one or more keyframes making up the motion or thumbnails thereof in accordance with thechronological sequence used in motion reproduction.
 36. An authoringmethod for supporting the creation and editing of an action to beperformed by a multi-joint robot, said action comprised of a combinationof a plurality of chronological data, said method comprising: a userpresenting step of presenting an editing area in which the chronologicaldata making up the action are arrayed chronologically along the timeaxis; and a chronological data editing step for creating or editingrelevant chronological data based on a user input through the editingarea, provided for each chronological data making up the action, viasaid user presenting step.
 37. The authoring method according to claim36 wherein one of the chronological data making up the action is motiondata stating the chronological movements of respective joints of themulti-joint robot.
 38. The authoring method according to claim 36wherein one of the chronological data making up the action is motiondata which prescribes chronological movements of respective joints ofthe multi-joint robot and which, by arraying two or more keyframes eachrepresenting the multi-joint robot striking a preset pose on the timeaxis, smoothly joins the respective keyframes.
 39. The authoring methodaccording to claim 36 wherein one of the chronological data making upthe action is sound data output as sound in timed relation toreproduction of said action.
 40. The authoring method according to claim39 wherein the sound data is stated in the MIDI (Musical InstrumentalDigital Interface) form or WAVE form.
 41. The authoring method accordingto claim 36 wherein one of the chronological data making up the actionis indicator display data stating the turning on/off of displayindicators, said display data being displayed in timed relation toreproduction of said action.
 42. The authoring method according to claim36 wherein indicator display data is stated in the MIDI (MusicalInstrumental Digital Interface) form.
 43. The authoring method accordingto claim 36 wherein the editing area presented in said user presentingstep is comprised of chronological data based chronological data displaychannels, said data extending along the horizontally arrayed time axis,said channels being arrayed in the vertical direction.
 44. The authoringmethod according to claim 43 wherein the editing area presented in saiduser presenting step includes a time ruler made up by graduationsrepresenting the time axis in real-time.
 45. The authoring methodaccording to claim 43 wherein the editing area presented by said userpresenting step includes one or more time display lines extending in thevertical direction for indicating the relevant time prescribed by a timeruler.
 46. The authoring method according to claim 43 wherein theediting area presented by said user presenting step includes avertically extending current time display line for indicating thecurrent time on the time axis prescribed by the time ruler; there beingincluded a further step of shifting said current time display line onthe time ruler to a position corresponding to user actuation.
 47. Theauthoring method according to claim 43 further comprising a step ofpresenting a display window for previewing movements of the multi-jointrobot at the current time.
 48. The authoring method according to claim43 wherein one of the chronological data making up the action is motiondata which prescribes the chronological movements of respective jointsof the multi-joint robot and which arrays two or more keyframes eachrepresenting the multi-joint robot striking a preset pose to smoothlyjoin the respective keyframes; said user presenting step includingpresenting a keyframe channel representing each keyframe or itsthumbnail along the time axis prescribed by said time ruler.
 49. Theauthoring method according to claim 48 wherein the keyframe time ischanged so as to follow up with dragging of said keyframe or itsthumbnail within the keyframe channel.
 50. The authoring methodaccording to claim 48 wherein a pose editing picture for editing arelevant pose is started responsive to a user selecting operation of akeyframe or its thumbnail within the keyframe channel.
 51. The authoringmethod according to claim 43 wherein one of the chronological datamaking up the action is motion data stating the chronological movementsof respective joints of the multi-joint robot; said user presenting stepincluding a motion channel for editing and displaying the contents of amotion along the time axis prescribed by the time ruler.
 52. Theauthoring method according to claim 51 wherein said user presenting steprepresents a motion channel by arraying respective timing chartsrepresenting chronological movements of respective joints of themulti-joint robot in the vertical direction.
 53. The authoring methodaccording to claim 52 further comprising a step of changing themovements of joints at a relevant time so as to follow up with draggingon the timing chart in said motion channel.
 54. The authoring methodaccording to claim 43 wherein one of the chronological data making upthe action is sound data issued as sound in timed relation toreproduction of an action; said user presenting step presenting anediting area including a sound channel for indicating the contents ofthe sound along the time axis prescribed by the time ruler.
 55. Theauthoring method according to claim 43 wherein one of the chronologicaldata making up the action is indicator data stating the operation of theturning on/off of the indicator, as output in timed relation to thereproduction of an action; said user presenting step presenting anediting area including a display indicator channel for indicating thecontents of the indicator display data along the time axis prescribed bythe time ruler.
 56. The authoring method according to claim 36 whereinone of the chronological data making up the action is sound data outputas sound in timed relation to the reproduction of an action; there beingfurther provided a step of indicating a sound editing area forindicating and editing the sound contents along the time axis prescribedby said time ruler.
 57. The authoring method according to claim 56wherein said sound editing area includes a score channel constituted bya basic grid along the time axis direction and a piano keyboard; a scorebeing formed by the sound duration as the reference of the time axis andthe pitch of the piano keys; the sound being edited by arraying thecolor corresponding to sound notes in a cell corresponding to thedesired time point and the sound scale on said score channel.
 58. Theauthoring method according to claim 56 wherein said sound editing areaincludes a velocity channel for representing the intensity of each soundalong the time axis.
 59. The authoring method according to claim 36wherein one of the chronological data making up an action is indicatordisplay data stating the turning on/off of a display indicator, outputin timed relation to the reproduction of an action; there being furtherprovided a step of indicating an indicator editing area for displayingand editing the contents of indicator data along the time axisprescribed by the time ruler.
 60. The authoring method according toclaim 59 wherein said indicator editing area includes a score channelconstituted by a list of arraying sites of the display indicators and bythe basic grid along the time axis direction; a score being edited fromone site list to another by indicating the turned-on state of thedisplay indicators in respective sites on the time axis on a scorechannel.
 61. The authoring method according to claim 36 furthercomprising a step of displaying a preview window for visually checkingan action of the multi-joint robot generated based on each chronologicaldata as edited in the chronological data editing step.
 62. The authoringmethod according to claim 61 wherein one of the chronological datamaking up an action is motion data stating the chronological movementsof respective joints of the multi-joint robot; said preview windowindicating step three-dimensionally displaying movements of themulti-joint robot, generated based on motion data, in a 3D view area.63. The authoring method according to claim 61 wherein one of thechronological data making up an action is indicator data stating theturning on/off of display indicators, output in timed relation to thereproduction of an action; said preview window indicating stepdisplaying the operation of the display indicators corresponding to theindicator display data in synchronism with the preview of otherchronological data.
 64. The authoring method according to claim 36further comprising a step of displaying a pose window for editing thepose of the multi-joint robot by the GUI operation.
 65. The authoringmethod according to claim 64 wherein said pose window includes an entityspecifying area for displaying the multi-joint robot in a developed planview for accepting user selection of editable sites.
 66. The authoringmethod according to claim 64 wherein said pose window includes a listspecifying area for displaying a list of editable sites of themulti-joint robot and setting values thereof.
 67. The authoring methodaccording to claim 64 wherein said pose window includes a setting valuearea for displaying a list of the names of setting sites, settingvalues, settable maximum values and settable minimum values of editablesites of the multi-joint robot.
 68. The authoring method according toclaim 64 wherein said pose window includes a 3D display area for 3Ddisplaying a full image of the multi-joint robot generated by 3Dgraphics and for accepting user selection of said editable sites on said3D display.
 69. The authoring method according to claim 64 furthercomprising a data inputting step of externally inputting chronologicaldata making up an action of the multi-joint robot; said pose windowdisplaying the pose generated based on data input from said datainputting means.
 70. The authoring method according to claim 36 whereinone of the chronological data making up an action is motion data whichprescribes chronological movements of respective joints of themulti-joint robot and which arrays two or more keyframes eachrepresenting the multi-joint structure striking a preset pose tosmoothly join the respective keyframes; there being further provided astep of displaying a motion preview window arraying one or more keyframes making up the motion or thumbnails thereof in accordance with thechronological sequence used in motion reproduction.
 71. A recordingmedium having physically stored thereon, in a computer-readable form,computer software for executing processing for supporting the creationand editing of an action to be performed by a multi-joint robot, saidaction represented by a combination of plural chronological data, on acomputer system, said computer software comprising: a user presentingstep of presenting an editing area in which chronological data making upthe action are arrayed chronologically along the time axis; and achronological data editing step for creating or editing relevantchronological data based on a user input through an editing area by saiduser presenting step, said editing area being provided for eachchronological data making up the action.